Implementation of FPGA based efficient gait controller for a biped robot

Abstract

This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program titled as reverse kinematics and zero moment point (IK-ZMP). Moreover an adaptive control system is proposed for balancing and control of the biped gait movement. This algorithm is simulated in a concurrent language known as VHDL and then it is implemented on FPGA-Spartan 3E, DIGILENT-NEXYS 2. Simulation results and hardware execution validates the effectiveness of this approach. Hence this method has effectively reduced the time duration from 0.56 jusec to 0.16 μsec which is nearly four times lesser than the time lengths of former method with sequential approach.