Implementation of FPGA based efficient gait controller for a biped robot

Muhammad Yaqoob Javed; Yasir Saleem; Muhammad Majid Gulzar; Syed Tahir Hussain Rizvi; Muhammad Saeed Tahir

doi:10.1109/ICRAE.2017.8291350

Implementation of FPGA based efficient gait controller for a biped robot

Muhammad Yaqoob Javed, Yasir Saleem, Muhammad Majid Gulzar, Syed Tahir Hussain Rizvi, Muhammad Saeed Tahir

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program titled as reverse kinematics and zero moment point (IK-ZMP). Moreover an adaptive control system is proposed for balancing and control of the biped gait movement. This algorithm is simulated in a concurrent language known as VHDL and then it is implemented on FPGA-Spartan 3E, DIGILENT-NEXYS 2. Simulation results and hardware execution validates the effectiveness of this approach. Hence this method has effectively reduced the time duration from 0.56 jusec to 0.16 μsec which is nearly four times lesser than the time lengths of former method with sequential approach.

Original language	English
Title of host publication	2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	42-47
Number of pages	6
ISBN (Electronic)	9781538613054
DOIs	https://doi.org/10.1109/ICRAE.2017.8291350
State	Published - 2 Jul 2017
Externally published	Yes
Event	2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 - Shanghai, China Duration: 29 Dec 2017 → 31 Dec 2017

Publication series

Name	2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Volume	2017-December

Conference

Conference	2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Country/Territory	China
City	Shanghai
Period	29/12/17 → 31/12/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

FPGA
VHDL
inverse kinematics
static walking
xilinx
zero moment point

ASJC Scopus subject areas

Control and Systems Engineering
Control and Optimization
Mechanical Engineering

Access to Document

10.1109/ICRAE.2017.8291350

Cite this

Javed, M. Y., Saleem, Y., Gulzar, M. M., Rizvi, S. T. H., & Tahir, M. S. (2017). Implementation of FPGA based efficient gait controller for a biped robot. In 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017 (pp. 42-47). (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017; Vol. 2017-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRAE.2017.8291350

Javed, Muhammad Yaqoob ; Saleem, Yasir ; Gulzar, Muhammad Majid et al. / Implementation of FPGA based efficient gait controller for a biped robot. 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 42-47 (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017).

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abstract = "This work attempts to introduce a preferably easier and efficient simulation technique followed by the implementation for biped robot gait pattern. For the gait pattern an automated path is generated with the aid of an algorithmic program titled as reverse kinematics and zero moment point (IK-ZMP). Moreover an adaptive control system is proposed for balancing and control of the biped gait movement. This algorithm is simulated in a concurrent language known as VHDL and then it is implemented on FPGA-Spartan 3E, DIGILENT-NEXYS 2. Simulation results and hardware execution validates the effectiveness of this approach. Hence this method has effectively reduced the time duration from 0.56 jusec to 0.16 μsec which is nearly four times lesser than the time lengths of former method with sequential approach.",

keywords = "FPGA, VHDL, inverse kinematics, static walking, xilinx, zero moment point",

author = "Javed, {Muhammad Yaqoob} and Yasir Saleem and Gulzar, {Muhammad Majid} and Rizvi, {Syed Tahir Hussain} and Tahir, {Muhammad Saeed}",

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doi = "10.1109/ICRAE.2017.8291350",

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Javed, MY, Saleem, Y, Gulzar, MM, Rizvi, STH & Tahir, MS 2017, Implementation of FPGA based efficient gait controller for a biped robot. in 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 42-47, 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017, Shanghai, China, 29/12/17. https://doi.org/10.1109/ICRAE.2017.8291350

Implementation of FPGA based efficient gait controller for a biped robot. / Javed, Muhammad Yaqoob; Saleem, Yasir; Gulzar, Muhammad Majid et al.
2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 42-47 (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017; Vol. 2017-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Javed MY, Saleem Y, Gulzar MM, Rizvi STH, Tahir MS. Implementation of FPGA based efficient gait controller for a biped robot. In 2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 42-47. (2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017). doi: 10.1109/ICRAE.2017.8291350

Implementation of FPGA based efficient gait controller for a biped robot

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this