BALANCE CONTROL METHOD OF BIPED ROBOT BASED ON FRP FEEDBACK MECHANISM AND ZMP

2014 ◽  
Vol 42 (1) ◽  
Author(s):  
Gang Wang ◽  
Yongmei Li
Keyword(s):  
Control Method ◽  
Balance Control ◽  
Biped Robot ◽  
Feedback Mechanism

SVR CONTROLLER FOR A BIPED ROBOT IN THE SAGITTAL PLANE WITH HUMAN-BASED ZMP TRAJECTORY REFERENCE AND GAIT

2012 ◽  
Vol 09 (03) ◽  
pp. 1250018 ◽  
Author(s):  
JOÃO P. FERREIRA ◽  
MANUEL CRISÓSTOMO ◽  
A. PAULO COIMBRA
Keyword(s):  
Control Method ◽  
Sagittal Plane ◽  
Balance Control ◽  
Biped Robot ◽  
Control Technique ◽  
Human Gait ◽  
Support Vector ◽  
Shift Parameter ◽  
Intelligent Computing ◽  
Swing Time

This paper introduces two new important issues to be considered in the design of the zero moment point (ZMP) trajectory of a biped robot. It was verified experimentally that in the human gait the ZMP trajectory moves along the foot in a way that it is shifted forward relative to its center. To take this into account a shift parameter is then proposed. It was also verified experimentally that in the human gait the ZMP trajectory amplitude depends on the swing time, reducing to zero for a static gait. It is then proposed a parameter to take into account this variation with the swing time of the gait. Six experiments were carried out for three different X ZMP trajectory references. In order to evaluate and compare the performance of the biped robot using the three X ZMP trajectory references two performance indexes are proposed. For the real-time balance control of this 8 link biped robot it was used an intelligent computing control technique, the Support Vector Regression (SVR). The control method uses the ZMP error and its variation as inputs and the output is the correction of the robot's ankle and torso angles, necessary for the sagittal balance of the biped robot.

scholarly journals Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control

2017 ◽  
Vol 2017 ◽  
pp. 1-16 ◽  
Author(s):  
Satoshi Ito ◽  
Shingo Nishio ◽  
Yuuki Fukumoto ◽  
Kojiro Matsushita ◽  
Minoru Sasaki
Keyword(s):  
Control Method ◽  
Balance Control ◽  
Biped Robot ◽  
Effective Control ◽  
Ground Reaction Forces ◽  
Gravity Compensation ◽  
Reaction Forces ◽  
Error Accumulation ◽  
Integral Feedback ◽  
The Stability

This paper considers the balance control of a biped robot under a constant external force or on a sloped ground. We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot. However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation. To improve this response, here, we introduce gravity compensation in a feedforward manner. The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations. Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.

scholarly journals Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Hai-yan Wang ◽  
Yi-bin Li
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Dynamic Equilibrium ◽  
Balance Control ◽  
Biped Robot ◽  
Pattern Generation ◽  
Control Methods ◽  
Double Support ◽  
Walking Control ◽  
Lateral Plane

Zero moment point (ZMP) is widely used in dynamical walking control of the biped robot, but it is hard to obtain the ZMP exactly. The paper describes a simple walking control method without using ZMP information directly. Firstly, the paper introduced a biped robot lower-limb prototype which is driven by linear hydraulic servocylinder. Then the paper simplifies the walking control in the lateral plane with a simple walking pattern generation method named “dynamic equilibrium method,” which is fit for active and underactuated biped robots. In the following section the paper provides the balance control methods without using ZMP information directly. Finally, simulation experiments with MD.DAMS and experiments in physical prototype are given. The experimental results confirm the effectiveness of the proposed control methods.

Research on a New Type of Lithium Battery String Equalization and Management System

2011 ◽  
Vol 383-390 ◽  
pp. 1470-1476
Author(s):  
Hao Wang ◽  
Ding Guo Shao ◽  
Lu Xu
Keyword(s):  
Lithium Batteries ◽  
Management System ◽  
Lithium Battery ◽  
Large Scale ◽  
Control Method ◽  
Balance Control ◽  
Industrial Applications ◽  
Control Technique ◽  
New Type ◽  
Management Functions

Lithium battery has been employed widely in many industrial applications. Parameter mismatches between lithium batteries along a series string is the critical limits of the large-scale applications in high power situation. Maintaining equalization between batteries is the key technique in lithium batteries application. This paper summarizes normal equalization techniques and proposed a new type of lithium Battery Equalization and Management System (BEMS) employing the isolated DC-DC converter structure. The system is integrated both equalization functions and management functions by using distributed 3-level controlled structure and digital control technique. With this control method the flexibility of the balance control strategy and the compatibility for different battery strings are both improved dramatically. The experimental results show optimizing equalization, efficiency and the battery string life span has been extended.

scholarly journals Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiaokun Leng ◽  
Songhao Piao ◽  
Lin Chang ◽  
Zhicheng He ◽  
Zheng Zhu
Keyword(s):  
Motion Control ◽  
Dynamic Characteristics ◽  
Control Method ◽  
Constraint Equation ◽  
Biped Robot ◽  
Equation System ◽  
Whole Body ◽  
Optimal Controller ◽  
Control Framework ◽  
The Stability

Biped robot research has always been a research focus in the field of robot research. Among them, the motion control system, as the core content of the biped robot research, directly determines the stability of the robot walking. Traditional biped robot control methods suffer from low model accuracy, poor dynamic characteristics of motion controllers, and poor motion robustness. In order to improve the walking robustness of the biped robot, this paper solves the problem from three aspects: planning method, mathematical model, and control method, forming a robot motion control framework based on the whole-body dynamics model and quadratic planning. The robot uses divergent component of motion for trajectory planning and introduces the friction cone contact model into the control frame to improve the accuracy of the model. A complete constraint equation system can ensure that the solution of the controller meets the dynamic characteristics of the biped robot. An optimal controller is designed based on the control framework, and starting from the Lyapunov function, the convergence of the optimal controller is proved. Finally, the experimental results show that the method is robust and has certain anti-interference ability.

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