Adaptive robust controls of biped robots
- Author(s): Zhijun Li 1 and Shuzhi Sam Ge 2, 3
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View affiliations
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Affiliations:
1:
The Key Lab of Autonomous System and Network Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, People's Republic of China;
2: Robotics Institute, and School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu 610054, People's Republic of China;
3: Department of Electrical and Computer Engineering, The National University of Singapore, Singapore 117576, Singapore
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Affiliations:
1:
The Key Lab of Autonomous System and Network Control, College of Automation Science and Engineering, South China University of Technology, Guangzhou 510641, People's Republic of China;
- Source:
Volume 7, Issue 2,
17 January 2013,
p.
161 – 175
DOI: 10.1049/iet-cta.2012.0066 , Print ISSN 1751-8644, Online ISSN 1751-8652
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This paper presents a structure of robust adaptive control for biped robots, which includes balancing and posture control for regulating the centre-of-mass (COM) position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of COM and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilise the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. Based on Lyapunov synthesis, the proposed adaptive controls guarantee that the tracking errors of system converge to zero. The proposed controls are robust not only to system uncertainties such as mass variation but also to external disturbances. The verification of the proposed control is conducted using the extensive simulations.
Inspec keywords: control system synthesis; position control; robust control; torque control; path planning; legged locomotion; adaptive control
Other keywords: mass variation; trunk orientation; ground reaction force; tracking errors; full-body joint torques; external disturbances; functional dynamics uncertainties; robust adaptive control structure; external disturbances exist; posture control; parametric dynamics uncertainties; centre-of-mass position balancing; biped robots; COM dynamics; Lyapunov synthesis; centre-of-mass position regulation; COM position regulation; bipedal robots
Subjects: Mobile robots; Control system analysis and synthesis methods; Self-adjusting control systems; Mechanical variables control; Stability in control theory; Spatial variables control
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