Standing Balance Switching Control Using the Stability Status of Humanoid Robot

2016 ◽  
Author(s):  
Hiroki Maeda ◽  
Shohei Kato
Keyword(s):  
Humanoid Robot ◽  
Switching Control ◽  
Standing Balance ◽  
The Stability

Switching Control for a Class of Discrete-Time Switched Fuzzy Systems Based on LMI

2014 ◽  
Vol 945-949 ◽  
pp. 2543-2546
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Discrete Time ◽  
Fuzzy Systems ◽  
Sufficient Conditions ◽  
Switching Control ◽  
Linear Matrix ◽  
Common Lyapunov Function ◽  
Lyapunov Function Method ◽  
The Common ◽  
The Stability ◽  
Stability Issues

Switching control and stability issues for discrete-time switched systems whose subsystems are all discrete-time fuzzy systems are studied and new results derived. Innovated representation models for switched fuzzy systems are proposed. The common Lyapunov function method has been adopted to study the stability of this class of switched fuzzy systems. Sufficient conditions for asymptotic stability are presented. The main conditions are given in form of linear matrix inequalities (LMIs), which are easily solvable. The elaborated illustrative examples and the respective simulation experiments demonstrate the effectiveness of the proposed method.

Disturbance rejection by online ZMP compensation

Robotica ◽  
2008 ◽  
Vol 26 (1) ◽  
pp. 9-17 ◽  
Author(s):  
Vadakkepat Prahlad ◽  
Goswami Dip ◽  
Chia Meng-Hwee
Keyword(s):  
Body Weight ◽  
Disturbance Rejection ◽  
Humanoid Robot ◽  
Additional Weight ◽  
Four Corners ◽  
Compensation Technique ◽  
Novel Method ◽  
Zero Moment ◽  
The Stability ◽  
Improve Stability

SUMMARYA novel method of Zero-Moment-Point (ZMP) compensation is proposed to improve the stability of locomotion of a biped, which is subjected to disturbances. A compensating torque is injected into the ankle-joint of the foot of the robot to improve stability. The value of the compensating torque is computed from the reading of the force sensors located at the four corners of each foot. The effectiveness of the method is verified on a humanoid robot, MANUS-I. With the compensation technique, the robot successfully rejected disturbances in different forms. It carried an additional weight of 390 gm (17% of body weight) while walking. Also, it walked up a 10° slope and walked down a 3° slope.

Switching Control Design for Switched Fuzzy Discrete-Time Systems

2014 ◽  
Vol 1006-1007 ◽  
pp. 711-714
Author(s):  
Hong Yang ◽  
Huan Huan Lü ◽  
Le Zhang
Keyword(s):  
Stability Analysis ◽  
Discrete Time ◽  
Fuzzy Systems ◽  
Closed Loop ◽  
Control Method ◽  
Control Design ◽  
Switching Control ◽  
Discrete Time Systems ◽  
The Stability ◽  
Time Systems

This paper investigates the problems of stability analysis and stabilization for a class of switched fuzzy discrete-time systems. Based on a common Lyapunov functional, a switching control method has been developed for the stability analysis of switched discrete-time fuzzy systems. A new stabilization approach based on a switching parallel distributed compensation scheme is given for the closed-loop switched fuzzy systems. Finally, the illustrative example is provided to demonstrate the effectiveness of the techniques proposed in this paper.

Stability and Robustness of a 3D Slip Model for Walking Using Lateral Leg Placement Control

2012 ◽  
Author(s):  
Dominik Budday ◽  
Fabian Bauer ◽  
Justin Seipel
Keyword(s):  
Humanoid Robot ◽  
Performance Test ◽  
Control Mechanism ◽  
Sagittal Plane ◽  
Control Strategies ◽  
Center Of Mass ◽  
Three Dimensional ◽  
Three Dimensions ◽  
Slip Model ◽  
The Stability

The SLIP model has shown a way to easily represent the center of mass dynamics of human walking and running. For 2D motions in the sagittal plane, the model shows self-stabilizing effects that can be very useful when designing a humanoid robot. However, this self-stability could not be found in three-dimensional running, but simple control strategies achieved stabilization of running in three dimensions. Yet, 3D walking with SLIP has not been analyzed to the same extent. In this paper we show that three-dimensional humanoid SLIP walking is also unstable, but can be stabilized using the same strategy that has been successful for running. It is shown that this approach leads to the desired periodic solutions. Furthermore, the influence of different parameters on stability and robustness is examined. Using a performance test to simulate the transition from an upright position to periodic walking we show that the stability is robust. With a comparison of common models for humanoid walking and running it is shown that the simple control mechanism is able to achieve stable solutions for all models, providing a very general approach to this problem. The derived results point out preferable parameters to increase robustness promising the possibility of successfully realizing a humanoid walking robot based on 3D SLIP.

Multiobjective Robust Regulating and Protecting Control for Aeroengines

2009 ◽  
Vol 131 (6) ◽  
Author(s):  
Daren Yu ◽  
Xiaofeng Liu ◽  
Wen Bao ◽  
Zhiqiang Xu
Keyword(s):  
Control Method ◽  
Design Method ◽  
Dynamic Performance ◽  
Switching Control ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Proportional Integral Derivative ◽  
Engine Control System ◽  
Switching Performance ◽  
The Stability

The multiobjective regulating and protecting control method presented here will enable improved control of multiloop switching control of an aeroengine. The approach is based on switching control theory, the switching performance objectives and the strategy are given, and a family of H∞ proportional-integral-derivative controllers was designed by using linear matrix inequality optimization algorithm. The simulation shows that using the switching control design method not only can improve the dynamic performance of the engine control system but also can guarantee the stability in some peculiar occasions.

scholarly journals Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

2021 ◽  
Vol 15 ◽  
Author(s):  
Qiubo Zhong ◽  
Yaoyun Li ◽  
Caiming Zheng ◽  
Tianyao Shen
Keyword(s):  
Energy Consumption ◽  
Humanoid Robot ◽  
Control Method ◽  
Humanoid Robots ◽  
Parameters Optimization ◽  
Optimal Parameters ◽  
Cooperative Motion ◽  
Key Technologies ◽  
Consumption Index ◽  
The Stability

The implementation of low-energy cooperative movements is one of the key technologies for the complex control of the movements of humanoid robots. A control method based on optimal parameters is adopted to optimize the energy consumption of the cooperative movements of two humanoid robots. A dynamic model that satisfies the cooperative movements is established, and the motion trajectory of two humanoid robots in the process of cooperative manipulation of objects is planned. By adopting the control method with optimal parameters, the parameters optimization of the energy consumption index function is performed and the stability judgment index of the robot in the movement process is satisfied. Finally, the effectiveness of the method is verified by simulations and experimentations.

Discussion On “Selective-Compliance-Based Lagrange Model and Multilevel Non-Collocated Feedback Control of a Humanoid Robot”

2020 ◽  
pp. 1-7
Author(s):  
Gustavo A. Medrano-Cerda
Keyword(s):  
Feedback Control ◽  
State Feedback ◽  
Humanoid Robot ◽  
Velocity Feedback ◽  
Technical Errors ◽  
Full State ◽  
Full State Feedback ◽  
The Stability ◽  
Motor Velocity ◽  
Stability Results

Abstract The publication [1] makes unjustified claims, has many inconsistencies, numerous technical errors in the theoretical exposition and omitted proofs. The stability claim of the COM dynamics is incomplete and errors increase in time indicating that the robot is unstable and will eventually fall. The range of disturbances that the controller can handle is not suitably addressed. In addition the reported tracking stability results, for PDD control (motor position, motor velocity and link velocity feedback) and PPDD (full state feedback), have already been published by Lanari [1a], [2a] for a larger class of models and with full details of the corresponding Lagrange stability proofs.

A Study on Fuzzy Control of Humanoid Soccer Robot EFuRIO for Vision Control System and Walking Movement

2012 ◽  
Vol 16 (3) ◽  
pp. 444-452
Author(s):  
Indra Adji Sulistijono ◽  
◽  
Son Kuswadi ◽  
One Setiaji ◽  
Inzar Salfikar ◽  
...  
Keyword(s):  
Fuzzy Logic Control ◽  
Humanoid Robot ◽  
Vision System ◽  
Humanoid Robots ◽  
Soccer Robot ◽  
Balance Condition ◽  
Logic Control ◽  
Control Scheme ◽  
Vision Control ◽  
The Stability

Instability is one of the major defects in humanoid robots. Recently, various methods on the stability and reliability of humanoid robots have been studied actively. We propose a new fuzzy-logic control scheme for vision systems that would enable a robot to search for and to kick a ball towards an opponent goal. In this paper, a stabilization algorithm is proposed using the balance condition of the robot, which is measured using accelerometer sensors during standing and walking, and turning movement are estimated from these data. From this information the robot selects the appropriate motion pattern effectively. In order to generate the appropriate reaction in various body of robot situations, a fuzzy algorithm is applied in finding the appropriate angle of the joint from the vision system. The performance of the proposed algorithm is verified by searching for a ball, walking, turning tap and ball kicking movement experiments using an 18-DOF humanoid robot, called EFuRIO.

Multi-Mode Switching Control of Networked Control System Based on Hidden Semi-Markov Model

2012 ◽  
Vol 542-543 ◽  
pp. 147-150 ◽  
Author(s):  
Ying Yan ◽  
Li Kun Wang ◽  
Yan Wang
Keyword(s):  
Markov Model ◽  
State Feedback ◽  
Switching Control ◽  
Networked Control System ◽  
Mode Switching ◽  
Markov Jump ◽  
Network Load ◽  
The Stability ◽  
Markov Jump Linear System ◽  
Multi Mode

This paper applies hidden semi-Markov model (HSMM) to estimate the network load states on the basis of time delay observations for multi-mode switching control of the NCS. The close-loop NCS with state feedback controller is modeled into a semi-Markov jump linear system (S-MJLS). Then the controllers corresponding to each mode are designed based on the stability theory of S-MJLS. Simulation results show the effectiveness of the proposed approach in this paper.

Sign in / Sign up

Export Citation Format

Share Document