Push recovery system and balancing of a biped robot on steadily increasing slope of an inclined plane

Abstract

The present research paper demonstrates the push recovery system and balancing on an inclined plane by 20 degrees of freedom (DOF) small sized biped robot. Here, the authors developed an algorithm to balance the posture of the biped robot while standing (that is, stationary mode), and balancing on an inclined plane with steadily increasing slope. To maintain stability of the biped robot, stability controllers are integrated into the walking controller. This enables the robot to sense any disturbance, and perform necessary action to maintain its stability. For measuring the external disturbances and orientation of the ground, an inertial measurement unit sensor is fitted inside the robot. Further, the robot is allowed to generate internal torque by the movement of its body parts to resist external disturbances. This principle is extended to test the balance of the biped robot on an inclined plane with increasing inclination angle. The robot is seen to successfully exhibit the two tasks, such as push recovery and maintaining the balance on the steadily increasing slope of a sloping surface in real-time.