Controlling Two-Legged Mobile Robot

Abstract

Since the appearance of robots, they have brought many benefits, for example: they can work continuously; they can work in harsh and dangerous environments that cannot be accessed by humans. Thanks to their mobility, mobile robots have a wide and flexible working area, especially two-legged mobile robots that can move in bumpy terrains, go up and down stairs or step over obstacles easily. Nowadays, with the increasing development of science, more and more mobile robots are applied and participated in human activities not only in service activities but also in direct coordination with humans. Robot control methods usually come from robot dynamic model and robot motion differential equation, thereby, calculating driving forces based on the deviation of input and output signals to drive motors on joints in order to ensure that robots moves in the desired trajectory. Two-legged mobile robots have a structure of many phases and joints connected together, besides, due to a large number of degrees of freedom, this type of robot is able to operate flexibly and move easily, however, it has a difficulty in dynamic and kinematic modeling, and robot control. Normally, the differential equation of robot motion will have complex quantities and massive formulas. In order to improve the walk of this robot, this study focuses on researching and surveying the problem of kinetics and dynamics and using a control method to control a specific two-legged mobile robot that moves in a cycle of walking.