A control strategy for adaptive bipedal locomotion

Author(s):  
L. Jalics ◽  
H. Hemami ◽  
B. Clymer
1999 ◽  
Vol 11 (3) ◽  
pp. 183-192 ◽  
Author(s):  
Ken'ichi Ogasawara ◽  
◽  
Masaki Arao ◽  
Shigeyasu Kawaji ◽  
◽  
...  

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.


1980 ◽  
Author(s):  
Harold F. Engler ◽  
Esther L. Davenport ◽  
Joanne Green ◽  
William E. Sears

TAPPI Journal ◽  
2018 ◽  
Vol 17 (05) ◽  
pp. 295-305
Author(s):  
Wesley Gilbert ◽  
Ivan Trush ◽  
Bruce Allison ◽  
Randy Reimer ◽  
Howard Mason

Normal practice in continuous digester operation is to set the production rate through the chip meter speed. This speed is seldom, if ever, adjusted except to change production, and most of the other digester inputs are ratioed to it. The inherent assumption is that constant chip meter speed equates to constant dry mass flow of chips. This is seldom, if ever, true. As a result, the actual production rate, effective alkali (EA)-to-wood and liquor-to-wood ratios may vary substantially from assumed values. This increases process variability and decreases profits. In this report, a new continuous digester production rate control strategy is developed that addresses this shortcoming. A new noncontacting near infrared–based chip moisture sensor is combined with the existing weightometer signal to estimate the actual dry chip mass feedrate entering the digester. The estimated feedrate is then used to implement a novel feedback control strategy that adjusts the chip meter speed to maintain the dry chip feedrate at the target value. The report details the results of applying the new measurements and control strategy to a dual vessel continuous digester.


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