Design and Control of a Biped Walking Mechanism

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Design and Control of a Biped Walking Mechanism

• Presented by
• Vivek Sangwan
• Anuj Taneja

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Schematic of the Biped Walking Mechanism
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Stability ranges of k
With Variation of Density
With Variation of Length
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Variation of Initial Conditions
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Consecutive cycles for a stable k 6 Nm/rad
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Phase Plane Plots
For Varying k
Consecutive Cycles of k 2
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Phase plane diagram showing the start and end of
the collisions for varying stable k
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Energy Curves
Power Input by Motor
Changes in KE and PE for k 6
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Biped Design
Old Design
Improved Design
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Variation of Initial Conditions
Convergence from both sides for Kp6, Kv0.01
Convergence from both sides for Kp6, Kv0
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Randomly varying Kp between 5 and 7 Nm/rad
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Effect of Kv on Initial Conditions
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Variation of Kv
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Effect of Kv on Energy
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Outcome

• An under actuated self excited biped walking
  mechanism has been studied in great details.
  Issues like parameter study, stability, position
  feedback, velocity feedback, energy consumption
  has been studied.
• An improved design has been fabricated on the
  basis of the above study

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Papers Published

• Sangwan V., Taneja A., Mukherjee S. 2003. Design
  of a Robust Self Excited Biped Walking Mechanism.
  Proceedings of NaCoMM-2003 311-318.
• Taneja A., Sangwan V., Mukherjee S. 2004. Case
  Study of Energy Flow in Cyclic systems Walking
  machine. Proceedings of Japan-India Joint Seminar
  on Advanced Manufacturing Systems-2004 29-37.
• Sangwan V., Taneja A., Mukherjee S. 2004. Design
  of a Robust Self Excited Biped Walking
  Mechanism. Selected for publication in IFToMM
  Journal of MMT.
• Taneja A., Sangwan V., Mukherjee S. 2004. Case
  study of Energy Flow in Cyclic Systems Walking
  Machine. Selected for the 28th Biennial
  Mechanisms and Robotics Conference (September 28
  to October 2,'04). Paper no. DETC2004-57601.