Implementation of FPGA based Efficient

Gait Controller for a Biped Robot

Muhammad Yaqoob Javed1, Yasir Saleem2, Muhammad Majid Gulzar1, Syed Tahir
Hussain Rizvi3,Muhammad Saeed Tahir1
1Department of Electrical Engineering, University of Central Punjab, Lahore, Pakistan.
2Department of Computer Science and Engineering, University of Engineering and Technology, Lahore, Pakistan.
3Dipartimento di Automatica e Informatica (DAUIN), Politecnico di Torino, Turin, Italy.

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 𝝁𝒔𝒆𝒄 to 𝟎. 𝟏𝟔 𝝁𝒔𝒆𝒄 which is nearly four times lesser than the time
lengths of former method with sequential approach.

Introduction Fig. 2. Geometric Representation of Biped Robot

The gait structure is established on human’s gait pattern observations, biomechanics, neuroscience
and their mechanical structure. Therefore biped robots propose demanding issues in the areas of
artificial intelligence, control and system modeling.
Several research groups are working hard on biped robots and their associated technologies so that
the equilibrium is retained spontaneously. To project a simple biped robot it demands a dynamic
communication between the simulation and hardware because as the degree of freedom (DoF)
grows the difficulty of the program also grows and correspondingly the control of biped. The biped
robot balance case demands a balance while moving along a particular path. Walking technique of
biped are usually established on conventional theory of control which makes use of a reference gait
path to follow but reference gait path is difficult to define in real world [5].
Two different methods of stable walking technique are available. These methods successfully
operate on two-legged as well as multi legged systems. The static walking technique is sluggish
and usually takes 10 seconds for single step and we can halt the robot at any particular moment
with no chance of unbalancing it. This is only possible by tracking the center of gravity (COG) in
consideration [7]-[19]. To preserve the COG the weight of the body must be shifted to the
stationary foot. Consequentially it is relatively sluggish, uses great quantity of energy and restricts
the span of gait because as the span becomes greater the duration taken by a single gait also
becomes greater. On the other side dynamic walking technique becomes fast as it takes one step
per second. It presumes imbalance as a temporary issue and if the equilibrium is kept constant
dynamic motion becomes smooth and doesn’t stop the moment as it is in COG. The biped
acceleration produces inertial forces and if these forces do not cease immediately, the robot may
collapse. Therefore an idea of (ZMP) is presented to cease the inertial moment. As ZMP is a level
where the moment created by inertia and gravity becomes null [20]-[21]. If ZMP is strictly
followed robot will never imbalance. To summarize there is a bigger probability of collapsing in
dynamic walking. So, in order to prevent collapsing or leaning the swinging leg must perform
faster function so that it comes back as soon as possible. In case of biped robots both walking
techniques are employed by researchers but dynamic motion is generally preferred. It is a
demanding issue in real world because it requires a lot of computation and the answer lies in
dynamic walking technique.

Conclusions
In most of the cases in biped robot gait model, delay was a leading trouble on
account of the usage of microcontrollers, because they carry out commands in
sequential fashion. As once biped is in movement all the joints continuously switch
within a minute interval or less. So multiple commands are employed to control
D.C. motors on dissimilar joints. These motors are controlled with the help of Pulse
Width Modulation (PWM). Whereas computer code of PWM is really difficult.
Therefore, to nullify these preceding troubles, parallel language is employed that is
Fig1: Different methods used for balancing and control of biped
VHDL. This language has positively decreased the probabilities of tilting, delay and
unbalancing. Hence this method has essentially reduced the time delay from
0.56µ𝑠𝑒𝑐 to 0.16µ𝑠𝑒𝑐.

Methods
The mathematical model of biped is derived by using mechanical structure states as feedback and
control variables as input [11]-[12]. To sustain equilibrium and to achieve a desired location, some
algorithmic program is involved to command motors to rotate at a specific degree. Among
generally employed algorithms, inverse kinematics algorithm is utilized to find particular joints
angle for specific coordinate [13]-[14]. The simple proposed design of biped model is shown in
Fig. 2.
In this study inverse kinematics and zero moment point algorithmic program (IK-
ZMP) have been carried out to command robotic legs in parallel manner.
Simulation of these algorithmic programs in VHDL and the outcomes found are
quite satisfactory.
The error rate can be further reduced by following the given recommendations.
Inverted pendulum can be employed with detectors and feedback to supervise
motion and balancing of biped and this will easily remove instability.
In order to make the biped robot with multiple DoF several algorithmic programs
may be employed. As multiple DoF will assist the biped robot to actuate in all
directions, but it can step-up the complexity.

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