A NEW PROCEEDING OF CONTROL STRATEGY FOR A PARALLEL STRUCTURAL BIPED ROBOT

2015 ◽  
Author(s):  
SHUCEN DU ◽  
JOSEF SCHLATTMANN
Keyword(s):  
Control Strategy ◽  
Biped Robot

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.

Intelligent Algorithm for Biped Robot for Harvesting Watermelons

1999 ◽  
Vol 11 (3) ◽  
pp. 183-192 ◽  
Author(s):  
Ken'ichi Ogasawara ◽  
◽  
Masaki Arao ◽  
Shigeyasu Kawaji ◽  
◽  
...  
Keyword(s):  
Control Strategy ◽  
A Priori ◽  
High Mobility ◽  
Biped Robot ◽  
Bipedal Locomotion ◽  
Intelligent Algorithm ◽  
Biped Robots ◽  
Farm Work ◽  
Current State ◽  
Locomotion Rhythm

Farm working usually involves a harsh environment such as limited work space and soft, unstable or uneven surfaces. High mobility even in such an environment is essential for automating agricultural tasks. Bipedal locomotion is an example of such mobility, but it is statically unstable. Biped robots for farm work must be controlled dynamically to maintain unstable equilibrium. No decisive control strategy for this problem had been mapped. Noting that biped locomotion is periodic and governed by a characteristic rhythm, we proposed control strategy based on locomotion rhythm. In an uncertain environment, the reference rhythm should be modified corresponding to its current state for realizing stable walking. We introduce the concept of ""compliance"" in our rhythm-based locomotion control to modify a priori defined reference rhythm so that the robot maintains its balance. Simulations and experiments demonstrate the feasibility of stable walking in an unfavorably environment.

Motion Analysis of Human Lifting Works with Heavy Objects

2005 ◽  
Vol 17 (6) ◽  
pp. 628-635 ◽  
Author(s):  
Nobutomo Matsunaga ◽  
◽  
Shigeyasu Kawaji
Keyword(s):  
Motion Control ◽  
Motion Analysis ◽  
Real World ◽  
Control Strategy ◽  
Robot Control ◽  
Autonomous Robots ◽  
Biped Robot ◽  
Weight Lifting ◽  
The Real ◽  
Lower Back

Advances in robot development involves autonomous work in the real world, where robots may lift or carry heavy objects. Motion control of autonomous robots is an important issue, in which configurations and motion differ depending on the robot and the object. Isaka et al. analyzed that lifting configuration is important in realizing efficient lifting minimizing the burden on the lower back, but their analysis was limited to weight lifting of a fixed object. Biped robot control requires analyzing different lifting in diverse situations. Thus, motion analysis is important in clarifying control strategy. We analyzed dynamics of human lifting of barbells in different situations, and found that lifting can be divided into four motions.

Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking

2017 ◽  
Vol 29 (3) ◽  
pp. 490-499 ◽  
Author(s):  
Yuta Hanazawa ◽  
◽  
Fumihiko Asano ◽  
Keyword(s):  
Numerical Methods ◽  
Limit Cycle ◽  
Control Strategy ◽  
Walking Speed ◽  
Sagittal Plane ◽  
Biped Robot ◽  
Center Line ◽  
Limit Cycle Walking ◽  
Speed Up ◽  
Leg Motion

[abstFig src='/00290003/04.jpg' width='120' text='Stick diagram of limit cycle walking with asymmetric swing-leg motion' ] This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods.

Fuzzy Control of Vertical Jumping With a Planar Biped

2010 ◽  
Author(s):  
Matthew Hester ◽  
Patrick M. Wensing ◽  
James P. Schmiedeler ◽  
David E. Orin
Keyword(s):  
Control Strategy ◽  
Fuzzy Controller ◽  
Preliminary Investigation ◽  
Biped Robot ◽  
Training Methods ◽  
Training Scheme ◽  
Vertical Jumping ◽  
Traditional Training ◽  
High Level ◽  
Series Elastic Actuators

This paper develops a control strategy to produce vertical jumps in a planar biped robot as a preliminary investigation into dynamic maneuvers. The control strategy was broken into two functional levels to separately solve the problems of coordination and execution of the jump maneuver. A high-level fuzzy controller addresses the complexities that arise from the system’s hybrid nonlinear dynamics and series-elastic actuators embedded in the articulated legs. A novel fuzzy training scheme is used because the system is too complex for traditional training methods. A low-level controller is based on a state machine that sequences the legs through the phases of a jump. The modular nature of the control strategy allows quick adaptation to other dynamic maneuvers. Validity is demonstrated through dynamic simulation and testing with the experimental biped KURMET which result in stable successive jumps over a range of heights.

SLIP-Based Control of Bipedal Walking Based on Two-Level Control Strategy

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1434-1449
Author(s):  
Behnam Dadashzadeh ◽  
C.J.B. Macnab
Keyword(s):  
Control Strategy ◽  
Inverted Pendulum ◽  
Biped Robot ◽  
Bipedal Walking ◽  
Level Control ◽  
Walking Motion ◽  
Reaction Forces ◽  
Upper Level ◽  
Torso Angle ◽  
Stable Control

SUMMARYIn this research, we propose a two-level control strategy for simultaneous gait generation and stable control of planar walking of the Assume The Robot Is A Sphere (ATRIAS) biped robot with unlocked torso, utilizing active spring-loaded inverted pendulum (ASLIP) as reference models. The upper level consists of an energy-regulating control calculated using the ASLIP model, producing reference ground reaction forces (GRFs) for the desired gait. In the lower level controller, PID force controllers for the motors ensure tracking of the reference GRFs for ATRIAS direct dynamics. Meanwhile, ATRIAS torso angle is controlled stably to make it able to follow a point mass template model. Advantages of the proposed control strategy include simplicity and efficiency. Simulation results using ATRIAS’s complete dynamic model show that the proposed two-level controller can reject initial condition disturbances while generating stable and steady walking motion.

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