Modelling of biped locomotion and intelligent control

In this thesis, biped human walking motion modelling and intelligent control systems have been used to follow foot orbital. In order to construct the model which is the closest to the bipedal walking motion in this realization, a solid model of the system have been created with the SolidWORKS package program using the dimensions of an average person. Then the model have been transfered to MATLAB / Simulink environment in order to control the system. In order to construct the substructure of the walking curve, forward and inverse kinematics calculations of the system have been made and the angles of the joints have been determined. Two different methods were used in the planning of the walking curve with the determined joint lines. These methods are polynomials at the 6th level and central pattern generator. After the walking curve design of the biped walking robot, the PID controller have been applied to perform the control operations. Keywords: Biped walking, Forward kinematics, Inverse kinematics, Orbital planning, CPG, PID