Comparison of Different Control Techniques on a Bipedal Robot of 6 Degrees of Freedom.

In this paper, a mathematical model of a bipedal robot with six degrees of freedom (6 DoF) is presented and tested for some control strategies. For simplicity, one of the extremities is modeled, and it is assumed that the second one is similar. Some widely used tools, like Denavit-Hattender parametrization and Euler-Lagrange approaches, are applied to obtain the movement equations. A set of control laws are designed, applied to the system model, and compared among them. The study is carried out to evaluate deviation errors in the extremities, the proposed bipedal model’s performance, and control strategies. The controllers’ performances are evaluated in terms of the deviation errors, which are computed as the root mean square (RMS) of differences between desired and actual extremity-joint positions. [ABSTRACT FROM AUTHOR]