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Journal of Vibration Testing and System Dynamics 1(1) (2017) 65--71 | DOI:10.5890/JVTSD.2017.03.005

Jing Lu$^{2}$, Xian-Guo Tuo$^{1}$,$^{2}$, Yong Liu$^{2}$, Tong Shen$^{2}$

$^{1}$ School of Automation and Information and Engineering, Sichuan University of Science and Engineering, Zigong 643000, China

$^{2}$ Fundamental Science on Nuclear Wastes and Environmental Safety Laboratory, Southwest University of Science and Technology, Mianyang 621010, China

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Abstract

To control a multi-joints bipedal robot, it is necessary to choose a proper law of control that ensures the safe and stable motions of the robot. Even for the simplest postures, such as sitting and stand- ing, there are constraints to respect so that the inverse geometric model (MGI) would not have in nitive solutions. In this paper, a particular task of sitting-to-standing is simulated for a bipedal robot using MATLAB. The articulation evolution and the variation of the shoulder position are evaluated using typical control and hierarchical redundant control in which the cases of with and without constraints are both considered. The simulation results show that the hierarchi- cal redundant control has a better effect than the typical one, and when considering the constraints, the articulations' angular velocities vary more smoothly so that the motor is better protected.

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