Figure - available from: IET Cyber-Systems and Robotics
This content is subject to copyright. Terms and conditions apply.
Source publication
Keeping balance in movement is an important premise for biped robots to complete various tasks. Now, the balance control of biped robots mainly depends on the cooperation of various joints of the robot's body. When robots move faster, the adjustment allowance of joints is reduced, and the robot's anti‐disturbance ability will inevitably decline. To...
Similar publications
System Level Synthesis (SLS) enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback optimization problem. The proposed algorithm builds on a recently proposed joint optimization scheme and iter...
Citations
Humanoid robot represents a highly uncertain dynamic plant. Nowadays, humanoid push recovery in stepping represents a complicated and challenging task. This paper proposes a new control approach in order to improve the biped push recovery using flywheel-based auto-balance. The core of the proposed approach relies on the original implementation of an additional control scheme that equalizes the unexpected force acting on the humanoid during robust stepping. Our novel control approach includes an evolutionary neural (IDE-NN: Improved Differential Evolution-Neural Networks) controller for robust biped walking and an additional optimal Proportional Integral (PI) used to regulate the flywheel integrated to the humanoid upper body. The proposed solution helps the humanoid stepping robustly to follow the trajectory required and further empirically guarantees the small-sized experiment humanoid HUBOT-5 robot stably stepping, even in case an unexpected force acting on HUBOT-5 biped. The comprehensive benchmark tests confirm that our proposed method is initiatively efficient.
The use of control moment gyroscopes (CMGs) in bipedal robots is investigated. In previous studies, CMGs attached to the torso are used only to assist in attitude control. This research aims to use CMGs in bipedal robots not only to assist in attitude control but also as actuators to control the legs. However, specific methodologies for applying CMGs to robot motion have not yet been clarified. In this paper, a simple robot is designed that uses CMGs not only for attitude control but also for joint angle control. As a first step, to maintain the upright posture of this robot, a two-layer controller is implemented. Experimental results confirm that the controller maintains the robot’s attitude against disturbance while avoiding angular momentum saturation.
The walking stability of a biped robot is affected by variable factors. A stable walking pattern for an electric-driven robot may not be stable for a hydraulic-electric hybrid robot due to the difference in the actuator’s control performance. Aiming at this issue, the influence of the actuator response characteristic on the biped robot walking stability was studied. The control error of the foot swing angle due to the different actuator response characteristics was analyzed. The walking stability criterion to determine the foot swing angle based on the ZMP method was proposed. Then, the maximum allowable control error was calculated. According to the calculation results, the optimization of the control loop to reduce the difference in response characteristics was introduced. The optimization performance was validated in simulation. The simulation results show that the method can improve the stability of the hybrid biped robot. This work provides an optimization basis for the robot drive control from the perspective of actuator response characteristics.
