Dynamic Walking Analysis of an Underactuated Biped Robot with Asymmetric Structure

2021 ◽  
Vol 18 (04) ◽  
Author(s):  
Borhan Beigzadeh ◽  
Seyed Alireza Razavi
Keyword(s):  
Feedback Linearization ◽  
Biped Robot ◽  
Continuous Phase ◽  
Bipedal Walking ◽  
Walking Robots ◽  
Asymmetric Structure ◽  
Stable Steady State ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

Owing to their nonlinear structures and dynamics, bipedal walking robots are commonly used as appropriate case studies for nonlinear modeling and control. In this study, the dynamics of a point-feet 4-link biped robot having asymmetric structure is studied. This asymmetry appears on the robot’s legs such that one leg of the robot does have an active knee while the other is knee-less. In this way, the style and analysis of each step depends on which leg is the stance leg. Although the stable steady state behavior of the system is purely periodic, the gait cycle does consist of two sequential steps. Since each step includes a continuous phase followed by an impact phase, hence, we need to model the system as a multiphase (4-phase) hybrid system. The main purpose of this research is to find stable gating pattern and employ appropriate controller to make sure that the gating is accomplished in an asymptotically stable manner. A combination of feedback linearization and finite-time controllers is used to control the walking posture, and the stability of the whole behavior is investigated by analysis of a one-dimensional Poincaré map. Simulation results successfully support the modeling and control approach.

scholarly journals Modeling and Control of a New Robotic Deburring System

2007 ◽  
Vol 129 (5) ◽  
pp. 965-972 ◽  
Author(s):  
Changhoon Kim ◽  
Jae H. Chung
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Pneumatic Cylinder ◽  
Coordination Control ◽  
External Disturbances ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control ◽  
Speed Simulation

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method was developed by decomposing the robotic deburring system into two subsystems: the arm and the deburring tool. A decentralized control approach was pursued in which suitable controllers were designed for the two subsystems in the coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of external disturbances, such as static and Coulomb friction and nonlinear compliance of the pneumatic cylinder stemming from the compressibility of air. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Modeling and Control Approach to Coupled Tanks Liquid Level System Based on Function-Type Weight RBF-ARX Model

2016 ◽  
Vol 19 (2) ◽  
pp. 692-707 ◽  
Author(s):  
Feng Zhou ◽  
Hui Peng ◽  
Xiaoyong Zeng ◽  
Xiaoying Tian ◽  
Jun Wu
Keyword(s):  
Liquid Level ◽  
Level System ◽  
Function Type ◽  
Arx Model ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control
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