An exact dynamic model for the Thomas-K biped robot: New simulator design

SUMMARYThe real-time balance PD control of an eight-link biped robot using a zero-moment point (ZMP) dynamic model is implemented using two alternative intelligent computing control techniques that were compared: one based on support vector regression (SVR) and another based on a first order Takagi–Sugeno–Kang (TSK) -type neural-fuzzy (NF). Both methods use the ZMP error, and its variation as inputs and the output is the correction of the robot's torso necessary for its sagittal balance. The SVR and the NF were trained based on simulation data, and their performance was verified with a real biped robot. Two performance indexes are proposed to evaluate and compare the online performance of the two control methods.The ZMP is calculated by reading four force sensors placed under each robot's foot. The gait implemented in this biped is based on ankle and hip human trajectories that were acquired and adapted to the robot's size. Some experiments are presented and the results show that the implemented gait combined either with the SVR controller or with the TSK NF network controller can be used to control this biped robot. The SVR and the NF controllers exhibit similar stability, but the SVR controller runs at 0.2 ms, about 50 times faster than the NF controller and much faster than a controller based on full ZMP dynamic model equations.

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NON-LINEAR DYNAMIC MODEL WITH VARYING HIP HEIGHT FOR STABLE WALKING OF BIPED ROBOT

International Journal of Robotics and Automation ◽

10.2316/journal.206.2018.6.206-5135 ◽

2018 ◽

Vol 33 (6) ◽

Author(s):

Sreeja Balakrishnan ◽

Shikha Tripathi ◽

Tekal Subramanyam Babu Sudarshan

Keyword(s):

Dynamic Model ◽

Biped Robot ◽

Linear Dynamic ◽

Non Linear

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Minimal energy control of a biped robot with numerical methods and a recursive symbolic dynamic model

Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171) ◽

10.1109/cdc.1998.760710 ◽

2002 ◽

Cited By ~ 6

Author(s):

M. Hardt ◽

K. Kreutz-Delgado ◽

J.W. Helton

Keyword(s):

Numerical Methods ◽

Dynamic Model ◽

Biped Robot ◽

Symbolic Dynamic ◽

Minimal Energy ◽

Energy Control

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Short-term volume and turgor regulation in yeast

Essays in Biochemistry ◽

10.1042/bse0450147 ◽

2008 ◽

Vol 45 ◽

pp. 147-160 ◽

Cited By ~ 12

Author(s):

Jörg Schaber ◽

Edda Klipp

Keyword(s):

Dynamic Model ◽

Volume Change ◽

Volume Regulation ◽

Time Course ◽

Osmotic Shock ◽

Intracellular Concentration ◽

Short Term ◽

Hydrodynamic Property ◽

Turgor Regulation ◽

Thermodynamic Framework

Volume is a highly regulated property of cells, because it critically affects intracellular concentration. In the present chapter, we focus on the short-term volume regulation in yeast as a consequence of a shift in extracellular osmotic conditions. We review a basic thermodynamic framework to model volume and solute flows. In addition, we try to select a model for turgor, which is an important hydrodynamic property, especially in walled cells. Finally, we demonstrate the validity of the presented approach by fitting the dynamic model to a time course of volume change upon osmotic shock in yeast.

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