Postural Balance of an Underactuated Biped Robot With a Reaction Wheel

2017 ◽  
Author(s):  
Chris M. Maurice ◽  
Bill Goodwine ◽  
James P. Schmiedeler
Keyword(s):  
Feedback Control ◽  
Postural Balance ◽  
Biped Robot ◽  
Zero Dynamics ◽  
Total System ◽  
Task Space ◽  
Reaction Wheel ◽  
Control Laws ◽  
Biped Robots ◽  
Nonlinear Control Theory

Practical and effective biped robots are trending toward reality with increasing interest in the technology and recent major innovations in nonlinear control theory. The development of underactuated techniques transitioned biped robot walking to a more elegant human-like motion. When disturbances are encountered, maintaining postural balance becomes a proven challenge that limits the practicality of these machines. This paper offers a solution to this issue by showing that an underactuated five-link reaction wheel-equipped planar biped robot can be posturally balanced successfully and efficiently with feedback control laws derived from the system’s zero dynamics and through task space optimization. The zero dynamics controller is shown to exhibit better performance compared to the task space controller in terms of settling time and total system work.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

scholarly journals Comparative stable walking gait optimization for small-sized biped robot using meta-heuristic optimization algorithms

2018 ◽  
Vol 40 (4) ◽  
pp. 407-424
Author(s):  
Tran Thien Huan ◽  
Ho Pham Huy Anh
Keyword(s):  
Humanoid Robot ◽  
Differential Evolution Algorithm ◽  
Biped Robot ◽  
The Novel ◽  
Biped Robots ◽  
Walking Gait ◽  
Gait Parameters ◽  
Lift Height ◽  
Evolution Algorithm ◽  
Gait Optimization

This paper proposes a new way to optimize the biped walking gait design for biped robots that permits stable and robust stepping with pre-set foot lifting magnitude. The new meta-heuristic CFO-Central Force Optimization algorithm is initiatively applied to optimize the biped gait parameters as to ensure to keep biped robot walking robustly and steadily. The efficiency of the proposed method is compared with the GA-Genetic Algorithm, PSO-Particle Swarm Optimization and Modified Differential Evolution algorithm (MDE). The simulated and experimental results carried on the prototype small-sized humanoid robot demonstrate that the novel meta-heuristic CFO algorithm offers an efficient and stable walking gait for biped robots with respect to a pre-set of foot-lift height value.

scholarly journals Online Biped Walking Pattern Generation with Contact Consistency

2015 ◽  
Vol 4 (1) ◽  
pp. 19
Author(s):  
Wenqi Hou ◽  
Jian Wang ◽  
Jianwen Wang ◽  
Hongxu Ma
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Task Space ◽  
Biped Walking ◽  
Foot Placement ◽  
Walking Gait ◽  
Walking Pattern ◽  
Generating Method ◽  
Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

scholarly journals Online Control for Biped Robot with Incremental Learning Mechanism

2021 ◽  
Vol 11 (18) ◽  
pp. 8599
Author(s):  
Liang Yang ◽  
Guanyu Lai ◽  
Yong Chen ◽  
Zhihui Guo
Keyword(s):  
Incremental Learning ◽  
Technical Problem ◽  
Dynamic Environment ◽  
Biped Robot ◽  
Training Data ◽  
Dynamics Simulation ◽  
Iteration Algorithm ◽  
Biped Robots ◽  
Learning Mechanism ◽  
Interval Type

In this paper, we develop a new online walking controller for biped robots, which integrates a neural-network estimator and an incremental learning mechanism to improve the control performance in dynamic environment. With the aid of an iteration algorithm for updating, some newly incoming data can be used straightforwardly to update into the original well-trained model, in order to avoid a time-consuming retraining procedure. On the other hand, how to maintain the zero-moment-point stability and counteract the effect of yaw moment simultaneously is also a key technical problem to be addressed. To this end, an interval type-2 fuzzy weight identifier is newly developed, which assigns weight for each walking sample to deal with the imbalanced distribution problem of training data. The effectiveness of the proposed control scheme has been verified through a full-dynamics simulation and a practical robot experiment.

scholarly journals State Transfer via On-Line State Estimation and Lyapunov-Based Feedback Control for a N-Qubit System

Entropy ◽  
2019 ◽  
Vol 21 (8) ◽  
pp. 751 ◽  
Author(s):  
Sajede Harraz ◽  
Shuang Cong
Keyword(s):  
Feedback Control ◽  
State Estimation ◽  
Open Quantum Systems ◽  
State Feedback Control ◽  
Quantum Master Equation ◽  
Control Law ◽  
Control Laws ◽  
Quantum State Estimation ◽  
State Transfer ◽  
On Line

In this paper, we propose a Lyapunov-based state feedback control for state transfer based on the on-line quantum state estimation (OQSE). The OQSE is designed based on continuous weak measurements and compressed sensing. The controlled system is described by quantum master equation for open quantum systems, and the continuous measurement operators are derived according to the dynamic equation of system. The feedback control law is designed based on the Lyapunov stability theorem, and a strict proof of proposed control laws are given. At each sampling time, the state is estimated on-line, which is used to design the control law. The simulation experimental results show the effectiveness of the proposed feedback control strategy.

Feedback control laws for proof-mass electrodynamic actuators

2007 ◽  
Vol 16 (5) ◽  
pp. 1766-1783 ◽  
Author(s):  
C González Díaz ◽  
P Gardonio
Keyword(s):  
Feedback Control ◽  
Proof Mass ◽  
Control Laws
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