Evaluación de un Esquema de Control de Equilibrio para un Prototipo de Robot Bípedo Desarrollado por el Grupo de Investigación ARMOS.

Abstract

This document presents the design, implementation and evaluation of a vertical balance control system on a bipedal robot prototype of 10 DOF (degrees of freedom), developed by the ARMOS research group. The control system was simulated off-line in order to observe the response time, and later it was recorded in a microcontroller of the Arduino Mega card for its implementation in the bipedal platform. The development of the document describes the process that was carried out to achieve the objective, from the adaptation of the plant with hardware, to the results of the simulations and the tests carried out, where it is evident how an articulation is carried to its position of balance, took into account the control action exercised on the system.