scholarly journals Tuning a PD Controller Based on an SVR for the Control of a Biped Robot Subject to External Forces and Slope Variation

10.5772/57526 ◽  
2014 ◽  
Vol 11 (3) ◽  
pp. 32 ◽  
Author(s):  
João P. Ferreira ◽  
Manuel Crisóstomo ◽  
A. Paulo Coimbra
Keyword(s):  
Biped Robot ◽  
Pd Controller ◽  
External Forces

A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Robotica ◽  
2014 ◽  
Vol 34 (7) ◽  
pp. 1495-1516
Author(s):  
Yeoun-Jae Kim ◽  
Joon-Yong Lee ◽  
Ju-Jang Lee
Keyword(s):  
External Force ◽  
Control Strategy ◽  
Balance Control ◽  
Biped Robot ◽  
Second Step ◽  
Double Support ◽  
Zero Moment ◽  
External Forces ◽  
Single Support Phase ◽  
Support Phase

SUMMARYIn this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

scholarly journals A Disturbance Rejection Control Method Based on Deep Reinforcement Learning for a Biped Robot

2021 ◽  
Vol 11 (4) ◽  
pp. 1587
Author(s):  
Chuzhao Liu ◽  
Junyao Gao ◽  
Dingkui Tian ◽  
Xuefeng Zhang ◽  
Huaxin Liu ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Disturbance Rejection ◽  
Humanoid Robot ◽  
Control Method ◽  
Learning Algorithm ◽  
Biped Robot ◽  
Forward Direction ◽  
Disturbance Rejection Control ◽  
Table Model ◽  
External Forces

The disturbance rejection performance of a biped robot when walking has long been a focus of roboticists in their attempts to improve robots. There are many traditional stabilizing control methods, such as modifying foot placements and the target zero moment point (ZMP), e.g., in model ZMP control. The disturbance rejection control method in the forward direction of the biped robot is an important technology, whether it comes from the inertia generated by walking or from external forces. The first step in solving the instability of the humanoid robot is to add the ability to dynamically adjust posture when the robot is standing still. The control method based on the model ZMP control is among the main methods of disturbance rejection for biped robots. We use the state-of-the-art deep-reinforcement-learning algorithm combined with model ZMP control in simulating the balance experiment of the cart–table model and the disturbance rejection experiment of the ASIMO humanoid robot standing still. Results show that our proposed method effectively reduces the probability of falling when the biped robot is subjected to an external force in the x-direction.

Adaptive PD Controller Modeled via Support Vector Regression for a Biped Robot

2013 ◽  
Vol 21 (3) ◽  
pp. 941-949 ◽  
Author(s):  
Joao P. Ferreira ◽  
Manuel M. Crisostomo ◽  
A. Paulo Coimbra
Keyword(s):  
Support Vector Regression ◽  
Biped Robot ◽  
Support Vector ◽  
Pd Controller

FUNDAMENTALISMO RELIGIOSO CRISTÃO E ISLÂMICO: TENDÊNCIAS SOCIOPOLÍTICAS

2019 ◽  
Vol 10 (23) ◽  
pp. 073
Author(s):  
Marcio Luis Costa ◽  
Alex Silva Messias
Keyword(s):  
The Other ◽  
Religious Movement ◽  
Religious Fundamentalism ◽  
Social Phenomenon ◽  
International Level ◽  
Social Politics ◽  
Political Pressure ◽  
Historical Responsibility ◽  
The Social ◽  
External Forces

Nas últimas décadas se observa o retorno da religião sob forma de fundamentalismo religioso, utilizando a mídia e instrumentos de pressão política para fazer valer suas crenças, pois diante do receio ao questionamento, os fundamentalistas veem no “outro”, no diferente, uma ameaça a ser combatida e, em alguns casos, extirpada para preservar suas convicções. O presente estudo tem por objetivo discutir as tendências sócio-políticas do fundamentalismo religioso cristão. Para tanto, com método bibliográfico narrativo, visitamos alguns autores em nível nacional e internacional, que abordam as condições que fizeram emergir o fenômeno social do fundamentalismo religioso, sua estruturação e atuação, até suas demandas sócio-políticas. Os resultados apontam que quando se identifica e transfere qualquer responsabilidade pessoal e histórica para as forças externas, o “outro”, entendido como pessoa e/ou instituição, não podemos negar que esse processo alcança dimensões de problema social. Notamos algumas tendências como mudança de movimento religioso para ideologia acirrada, da postura de fiel para militância, do “ad intra” das religiões para demandas “ad extra”, dos altares e púlpitos para ocupações políticas.Palavras-chave: Fundamentalismo Religioso; Protestante; Católico. CHRISTIAN RELIGIOUS FUNDAMENTALISM: SOCIAL-POLITICS TENDENCIESAbstractIn the last decades the return of religion in religious fundamentalism form can be observed, using media and instruments of political pressure, because when facing the fear of questioning, fundamentalists see in the “other”, in the different, a threat to be stopped and, in some cases, extirpated top preserve their convictions.  This study aims to discuss the social-politics tendencies of the Christian religious fundamentalism. For that, with the narrative bibliographic method, we visited some authors of national and international level, that approach the conditions that caused the emergence of the religious fundamentalism social phenomenon, its structure and role, until its social-politics demand. The results show that when any personal or historical responsibility is identified and transferred to external forces, the “other”, understood as person and/or institution, we cannot deny this process reaches dimensions of social problem. We notice some tendencies such as the change of the religious movement to fierce ideology, from the posture of faithful to militancy, from “ad intra” of religions to “ad extra” demands, from the altars and pulpits to political positions.Keywords: Religious Fundamentalism; Protestant; Catholic.

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