BIOMIMETIC CONTROL ALGORITHM FOR THE BALANCE AND LOCOMOTION OF WALKING SYSTEMS

Nicu George Bîzdoacă, Anca Petrişor, Hani Hamdan, Khalid Al Mutib

2010

Abstract

Implementation of active control has much potential to contribute to the creation and construction of innovative structures. This paper summarizes recent research of the authors that is the study of biomimetic control solutions regarding balance and locomotion of robotic systems. A first goal of the work consists in identifying solutions necessary to balance the individual systems. Research has been focused both on systems with a single foot, but also on biped, tripods, quadrupeds, hexapods and octopods. Static balance is achieved by a proper mechanical design (Bizdoaca and Petrisor, 2009), but also by a corresponding load / tensioning actuators systems that can compensate for inertial elements that can lead to system stability limit. Theoretical studies have been focused on developing an efficient stepping algorithm in environment with strong uncertainties, known as SSTA algorithm. The article present a series of experiments made with servo actuated and smart actuated (based on shape memory alloy, especially) walking biomimetic structures.

Paper Citation

in Harvard Style

George Bîzdoacă N., Petrişor A., Hamdan H. and Al Mutib K. (2010). BIOMIMETIC CONTROL ALGORITHM FOR THE BALANCE AND LOCOMOTION OF WALKING SYSTEMS . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 295-300. DOI: 10.5220/0002951102950300

in Bibtex Style

@conference{icinco10,
author={Nicu George Bîzdoacă and Anca Petrişor and Hani Hamdan and Khalid Al Mutib},
title={BIOMIMETIC CONTROL ALGORITHM FOR THE BALANCE AND LOCOMOTION OF WALKING SYSTEMS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={295-300},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002951102950300},
isbn={978-989-8425-01-0},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - BIOMIMETIC CONTROL ALGORITHM FOR THE BALANCE AND LOCOMOTION OF WALKING SYSTEMS
SN - 978-989-8425-01-0
AU - George Bîzdoacă N.
AU - Petrişor A.
AU - Hamdan H.
AU - Al Mutib K.
PY - 2010
SP - 295
EP - 300
DO - 10.5220/0002951102950300