Modeling and control of joint angles of a biped robot leg using PID controllers

The aim of this paper is to get a controlled joint angle plot for a biped robot leg having three links and four degrees of freedom. Biped robots have better mobility than conventional wheeled robots, but the mathematical modeling are complicated than other kind of robots. To design a complete stable walking robot the first necessary thing is to give complete mathematical modeling of a biped robot. In this paper we are considering a part of biped robot and giving formalism to model and control it using basic PID controllers. The Mathematical modeling of this model are done by using DH convention and Lagrange Euler equation. PID controller is applied to each joint separately to control the joint angle. All calculation to find equation of motion performed in MATLAB.