Modular framework for implementation and analysis of recursive filters with considered and neglected parameters

AbstractBiped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso, and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs, and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.

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MCA2 - AN EXTENSIBLE MODULAR FRAMEWORK FOR ROBOT CONTROL APPLICATIONS

Advances in Climbing and Walking Robots ◽

10.1142/9789812770189_0078 ◽

2007 ◽

Cited By ~ 12

Author(s):

Klaus Uhl ◽

Marco Ziegenmeyer

Keyword(s):

Robot Control ◽

Control Applications ◽

Modular Framework

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Modular framework for teleradiology

10.1117/12.152904 ◽

1993 ◽

Author(s):

Bruce G. Barnett ◽

John J. Bloomer ◽

Richard L. St. Peters ◽

Emilie T. Saulnier

Keyword(s):

Modular Framework

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Implementation of a 3-D-Var system for atmospheric profiling data assimilation into the RAMS model: initial results

Atmospheric Measurement Techniques Discussions ◽

10.5194/amtd-6-3581-2013 ◽

2013 ◽

Vol 6 (2) ◽

pp. 3581-3610

Author(s):

S. Federico

Keyword(s):

Relative Humidity ◽

Data Assimilation ◽

Initial Conditions ◽

Weather Prediction ◽

Wind Profiler ◽

Short Term ◽

Recursive Filters ◽

Data Assimilation System ◽

Rams Model ◽

Assimilation System

Abstract. This paper presents the current status of development of a three-dimensional variational data assimilation system. The system can be used with different numerical weather prediction models, but it is mainly designed to be coupled with the Regional Atmospheric Modelling System (RAMS). Analyses are given for the following parameters: zonal and meridional wind components, temperature, relative humidity, and geopotential height. Important features of the data assimilation system are the use of incremental formulation of the cost-function, and the use of an analysis space represented by recursive filters and eigenmodes of the vertical background error matrix. This matrix and the length-scale of the recursive filters are estimated by the National Meteorological Center (NMC) method. The data assimilation and forecasting system is applied to the real context of atmospheric profiling data assimilation, and in particular to the short-term wind prediction. The analyses are produced at 20 km horizontal resolution over central Europe and extend over the whole troposphere. Assimilated data are vertical soundings of wind, temperature, and relative humidity from radiosondes, and wind measurements of the European wind profiler network. Results show the validity of the analysis solutions because they are closer to the observations (lower RMSE) compared to the background (higher RMSE), and the differences of the RMSEs are consistent with the data assimilation settings. To quantify the impact of improved initial conditions on the short-term forecast, the analyses are used as initial conditions of a three-hours forecast of the RAMS model. In particular two sets of forecasts are produced: (a) the first uses the ECMWF analysis/forecast cycle as initial and boundary conditions; (b) the second uses the analyses produced by the 3-D-Var scheme as initial conditions, then is driven by the ECMWF forecast. The improvement is quantified by considering the horizontal components of the wind, which are measured at a-synoptic times by the European wind profiler network. The results show that the RMSE is effectively reduced at the short range (1–2 h). The results are in agreement with the set-up of the numerical experiment.

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