Controller design for a quadruped walking robot leg using the bees algorithm

In this study, PID-based hybrid force/trajectory impedance controller design and optimization for a two-limb leg of a quadruped robot whose mechanical properties are similar to the mule anatomy is performed. Firstly, a two degree of freedom leg model is designed for the quadruped mobile robot. The physical parameters are determined to provide the walking ability of the robot. A three-dimensional solid model of the design is created. Material information and joint degrees of freedom of the system are determined in the model and necessary preliminary preparation is made for the simulation. The kinematic and dynamic equations of the system are specified mathematically. For more accurate results, three-dimensional solid model including dynamic parameters and material information of limbs is used. Then, simulation was created in MATLAB/Simulink environment. To control the system, first of all, a standard PID controller is designed to provide the basis for impedance studies. PID based hybrid force/trajectory impedance controller is designed in accordance with the experience gained from the basic PID controller. In order to improve the force / trajectory control, the controller gains and impedance coefficients are adjusted with the Bees Algorithm optimization. The results are presented in graphical form and the efficiency of the impedance controller is analyzed according to the gains and coefficients obtained before and after optimization. Consequently, a successful impedance-based controller for surface contact force/trajectory control of the foot of the system is obtained, parameters are optimized, and performance is improved.