Control system of biped robot balancing on board

Abstract

This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous one consists in a more profound study of robot path planning. Moreover, for a more accurate calculation of the desired trajectory, we change the data on which the desired path is determined. In the designed control system readings of the accelerometer and gyroscope installed in the robot torso are used.