Exploiting the Equations of Motion For Biped Robot Control with Enhanced Stability

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.

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Design of a Biped Robot With Torsion Springs at the Joints for Reduced Energy Consumption During Walk

Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B ◽

10.1115/detc2009-86595 ◽

2009 ◽

Cited By ~ 2

Author(s):

Santosh Pratap Singh ◽

Ashish Dutta ◽

Anupam Saxena

Keyword(s):

Energy Consumption ◽

Degrees Of Freedom ◽

Equations Of Motion ◽

Biped Robot ◽

Single Step ◽

Biped Robots ◽

Gait Parameters ◽

Reduction Of Energy Consumption ◽

Torsion Springs ◽

Spring Constants

Biped robots have multiple degrees of freedom for walking and hence they consume a lot of energy. In this paper it is proposed that adding torsion springs at the joints of an 8 DOF biped will lead to reduced energy consumption during walk. First the dynamic equations of motion of the biped robot are obtained incorporating the torsion springs at the joints. Using the dynamic model the total energy consumed during walk was evaluated for a single step. A Genetic Algorithm (GA) based algorithm was developed for finding the energy optimal trajectory during gait by comparing all the possible trajectories. It is first proved that addition of torsion springs at the joints lead to reduction of energy consumption as compared to a biped with no springs. All the gait parameters were then optimized to get the optimum values for the spring constants at each joint, reference angle of springs and length of each step. It is proved that using these optimal parameters the proposed biped robot consumes the least energy.

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Biped robot control using particle swarm optimization

2010 IEEE International Conference on Systems, Man and Cybernetics ◽

10.1109/icsmc.2010.5642027 ◽

2010 ◽

Cited By ~ 17

Author(s):

Nizar Rokbani ◽

Elhoucine Benbousaada ◽

Boudour Ammar ◽

Adel M. Alimi

Keyword(s):

Particle Swarm Optimization ◽

Robot Control ◽

Particle Swarm ◽

Biped Robot ◽

Swarm Optimization

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Biped Robot Control

Communications and Control Engineering - Dynamic Surface Control of Uncertain Nonlinear Systems ◽

10.1007/978-0-85729-632-0_9 ◽

2011 ◽

pp. 217-232

Author(s):

Bongsob Song ◽

J. Karl Hedrick

Keyword(s):

Robot Control ◽

Biped Robot

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DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT

International Journal of Humanoid Robotics ◽

10.1142/s0219843606000527 ◽

2006 ◽

Vol 03 (01) ◽

pp. 105-126

Author(s):

AHMAD BAGHERI ◽

FARID NAJAFI ◽

REZA FARROKHI ◽

RAHMAN YOUSEFI MOGHADDAM ◽

MOHAMMAD EBRAHIM FELEZI

Keyword(s):

Equations Of Motion ◽

Biped Robot ◽

Adaptive Methods ◽

Walking Robots ◽

Physical Parameters ◽

Human Beings ◽

Adaptive Procedure ◽

Link Length ◽

Biped Walking ◽

Dynamic Modification

Recently, a lot of research has been conducted in the area of biped walking robots that could be compared to human beings. The aim of this article is to control a new planar biped robot by means of an adaptive procedure. The newly designed robot is able to move on its heel like a human. After derivation of dynamic equations of motion for two states of the robot, namely, "supporting leg and trunk" and "swing leg" separately, the stability of robot is achieved by locating the zero moment point (ZMP). A dynamic modification is developed for ZMP positioning. For motion control of the robot, the physical parameters (such as mass, link length and geometry) are estimated (identified) by adaptive methods. A Matlab based software simulation is also conducted.

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Solving the inverse dynamic control for low cost real-time industrial robot control applications

Robotica ◽

10.1017/s0263574702004769 ◽

2003 ◽

Vol 21 (3) ◽

pp. 261-269 ◽

Cited By ~ 7

Author(s):

A. Valera ◽

V. Mata ◽

M. Vallés ◽

F. Valero ◽

N. Rosillo ◽

...

Keyword(s):

Real Time ◽

Robot Control ◽

Industrial Robot ◽

Low Cost ◽

Equations Of Motion ◽

Dynamic Control ◽

Open Architecture ◽

Control Technique ◽

Generation Task ◽

Inverse Dynamic

This work deals with the real-time robot control implementation. In this paper, an algorithm for solving Inverse Dynamic Problem based on the Gibbs-Appell equations is proposed and verified. It is developed using mainly vectorial variables, and the equations are expressed in a recursive form, it has a computational complexity of O(n). This algorithm will be compared with one based on Newton-Euler equations of motion, formulated in a similar way, and using mainly vectors in their recursive formulation. This algorithm was implemented in an industrial PUMA robot. For the robot control a new and open architecture based on PC had been implemented. The architecture used has two main advantages. First it provides a total open control architecture, and second it is not expensive. Because the controller is based on PC, any control technique can be programmed and implemented, and in this way the PUMA can work on high level tasks, such as automatic trajectory generation, task planning, control by artificial vision, etc.

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