Active Ankle Response for a 2-D Biped Robot with Terrain Contact Sensing

Abstract

This investigation explored the possibility of controlling a biped robot in the lateral direction as well as sensing terrain properties. A literature review was conducted to learn from and build off of previous research. Little research existed that deals directly with this topic, since most research dealing with biped robots deals with ambulation in the forward direction or control systems. The literature review supported the idea of controlling a biped in the lateral direction in theoretical terms, but has not ever been addressed by designing and fabricating a test bed and control system. Terrain sensing has been addressed in various aspects, but this research was aimed to acquire quantifiable values to determine how rigid the terrain is.