Bond graph approach for dynamic modelling of the biped robot and application to obstacle avoidance

This paper deals with the modelling and obstacle avoidance of a biped robot. At first, the bond graph-based three-dimensional model of the biped is proposed. The robot walking scheme depends upon the oscillating cylinder mechanism. Two DC motors are actuating the prismatic leg of the robot. Then, bond graph model is converted into the Simulink block which is further used for obstacle avoidance application. The physical model of the biped robot is also fabricated. The second part of the work deals with the development of the hybrid obstacle avoidance algorithm by using the merits of the line following, tangent bug and wall following algorithm. The practicability of algorithm is validated on two cases depend upon the positions of the obstacle. The coding of the algorithm is developed by using MATLAB software. The single rectangular shape obstacle is considered for obstacle avoidance by the robot during experimentation work. At last, the validation of the simulation and experimentation work is considered.