ABSTRACT
Compared to industrial manipulators, legged robots are having much more interaction with the ground and it is a tough job to control the robot in an effective manner. Further, the mechanism, structure and balancing of the two-legged robot is complex in nature when compared with other legged robots. The mathematical model used for the gait generation of the biped robot while descending the staircase is similar to that of ascending the staircase. Depending on the fitness of the problem in a colony, each weed produces new seeds. The new seeds are distributed randomly over the search space by using a normally distributed random number with mean equal to zero. In this research work, an attempt is made to develop a torque-based PID controller for the biped robot while ascending and descending the staircase. Finally, the gait obtained by the adaptive PID controller is tested on a real biped robot.
