Autonomous Biped with Self Maneuvering Ability

PROJECT GUIDE:
Ms. SUJATA DUBAL (Asst. Professor of Electronics Department)

GROUP MEMBERS:
NIDHI KHETAN 18 PRASAD DUGAD 05 YASH SANGHVI 29

ABSTRACT:
Controlling a biped robot with a high degree of freedom to achieve stable and straight movement patterns is a complex problem. With growing computational power of computer hardware, high resolution real time simulation of such robot models has become more and more applicable. This project presents a novel approach to generate bipedal locomotion. Particle Swarm Optimization (PSO) is used to calculate optimum direction of maneuvering of bipedal motion

INTRODUCTION:
In recent years, bipedal locomotion, especially "bipedal walking" has been one of the interesting research topics in multi disciplinary topic. Bipedal walking as a very complex motion, involves most of humanoid joints including its sensors and actuators. Many researchers have focused on this topic and a lot of approaches have been presented. But so far no method exists that can walk a robot as stable as human's do.

PROJECT DESCRIPTION:
Passive Dynamic Walking It is a mathematical model for reflexive motion of human legs. It represents Bipedal motion as a type of Inverted Pendulum loosely controlled through neural receptors Self Maneuvering with Intelligent Algorithms (IAs) The above principle of mechanism is easily implemented by human brain control .But complex to be realized using logic algorithms. Intelligent algorithms utilizing optimization techniques are used to approximate such motion.

 Bipedal Operation It utilizes Partial Passive Dynamic walking mechanism. The angle of leg joints is precisely controlled using RC Servos Sensing Mechanism 4 Optical Proximity Sensors will be used. Two sensors for Obstacle Detection and Two for Level Detection . Intelligent Sensing It makes use of optimization algorithms for deciding the direction, angle and orientation of maneuvering.

COMPONENTS:
AVR Mother Board DC Servo Motors Optical proximity Sensor ATMEGA 16 Miscellaneous: Resistors, Capacitors, Inductors, Preset, Wires

APPLICATION:
Autonomous Maneuvering of vehicles Obstacle Detection Intelligent Motion in rugged terrain Prosthetic Leg

REFERENCE:

A Control Approach for Actuated Dynamic Walking in Biped Robots, David J. Braun, Student Member, IEEE, and Michael Goldfarb, Member, IEEE, Dec 2009. Biped Gait Generation and Control Based on a Unified Property of Passive Dynamic Walking, Fumihiko Asano, Zhi-Wei Luo, and Masaki Yamakita, IEEE, Aug 2005. Hazem Ahmed, Janice Glasgow, Swarm intelligence,: Concepts, Models and Applications, Technical Report 2012-585. Mark Flischer, Foundations of Swarm Intelligence, University of Maryland Ajith Abraham, He Buo, Hongbo Liu, Swarm Intelligence Foundations, Perspectives and applications Davoud Sedighizadeh and Ellips Masehian, Particle Swarm Optimization Methods, Taxonomy and Applications