A Strategy for Controlling Motions Related to Sensory Information in a Walking Robot Big Foot

Abstract

Acquiring adequate sensory information and using it to provide motor control are important issues in the process of creating walking robots. The objective of this article is to present control algorithms for the optimization of the walking cycle of an innovative walking robot named “Big Foot”. The construction of the robot is based on minimalist design principles—only two motors are used, with which Big Foot can walk and even overcome obstacles. It is equipped with different types of sensors, with some of them providing information necessary for the realization of an optimized walk cycle. We examine two laws of motion—sinusoidal and polynomial—where we compare the results with constant angular velocity motion. Both proposed laws try to find balance between minimizing shock loads and maximizing walking speed for a given motor power. Experimental results are derived with the help of a 3D-printed working prototype of the robot, with the correct realization of the laws of motion being ensured by the use of a PD controller receiving data from motor encoders and tactile sensors. The experimental results validate the proposed laws of motion and the results can be applied to other walking robots with similar construction.