Jacobian based control of walking robot with compliant legs

Jacobian based control of walking robot is difficult as compared to terrestrial manipulator as walking robot's each leg can be considered as a terrestrial manipulator. Moreover each leg is not always in motion as it has to pass through stand and motion phase depending upon the gait pattern. This paper proposed an approach where first gait pattern is assumed and for this gait pattern joint motions are assumed. For these joint motions the leg tip velocity is simulated. For pattern generation this leg tip velocity is assumed as the reference velocity and given to leg tip during the motion of that particular leg. The actual velocity of leg is calculated from the joint velocity of leg. The error in leg tip velocity is evaluated in PID controller, calculates the corrective voltage required for the joint motors. For the said analysis, the bond graph has been adopted as the modeling tool.