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Autonomous Biped With Self Maneuvering Ability

Project Guide: Ms. Sujata Dubal Asst. Professor Electronics Department Group Members: Nidhi Khetan (18) Prasad Dugad (05) Yash Sanghvi (29)

Contents
Abstract Introduction Problem Statement Literature Survey Autonomous Bipedal Mechanism Principle of Operation Block Diagram Methodology Features & Applications

References

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

Particle Swarm Optimization (PSO) is used to calculate optimum

direction of maneuvering of bipedal motion

Introduction
Bipedal Locomotion The technique of using legged mechanism instead of wheels Inspired from the Bipedal Trajectile motion of humans and similar creatures to develop such systems for specialized application Need and advantages Replaces Wheeled motion effectively especially in rugged and uneven terrain Provides Insight into the Biophysics of Human Motion Uses and application Autonomous Maneuvering of vehicles Intelligent Motion in rugged terrain

Problem Statement
The Aim of the project is to implement effective intelligent algorithms that can - Simplify complexity of dynamics - Produce effectively intelligent motion for autonomous locomotion

Literature Survey

Autonomous Bipedal Mechanism (A.B.M)


Project Motivation Wheeled Motion Ineffective in uneven terrains Legged or Bipedal Motion seems an effective solution But complexity of control poses a practical problem

Principle Of Operation
Passive Dynamic Walking Mathematical model for reflexive motion of human legs. Represents Bipedal motion as a type of Inverted Pendulum loosely controlled through neural receptors Self Maneuvering with Intelligent Algorithms (IAs) Above principle of mechanism 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

Block Diagram
S3 S1 MOTOR - 1 AVR MOTOR SENSOR BASED S4

S2

MOTOR - 2 MOTOR - 3 MOTOR - 4

CONTROL
BOARD

CONTROL
BOARD

MOTHER
BOARD

Working
Bipedal Operation Utilizes Partial Passive Dynamic walking mechanism Angle of leg joints precisely controlled using RC Servos

Servo Motors RC servos DC Motors with PWM control S/W PWM generated through motherboard

Working (Contd)
Sensing Mechanism 4 Optical Proximity Sensors used Two for Obstacle Detection Two for Level Detection
Intelligent Sensing Makes use of optimization algorithms for deciding the direction, angle, orientation of maneuvering.

Features and Applications


Advantages Motion on rugged surfaces Autonomy of action Disadvantage Complex algorithm Higher root locus area for instability

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

Reference

IEEE papers mentioned in the Literature Survey have been

referred

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.

Thank You