Modeling and Control of Passive Dynamic Walking Robot with Humanoid Gait

2013 ◽  
Vol 461 ◽  
pp. 903-907
Author(s):  
Zhen Chao Zhu ◽  
Zhen Sui ◽  
Yan Tao Tian ◽  
Hong Jiang
Keyword(s):  
Control Strategy ◽  
Finite State Machine ◽  
High Energy ◽  
Upper Body ◽  
Walking Robot ◽  
Bipedal Robot ◽  
Modeling And Control ◽  
Simulation Based ◽  
Finite State ◽  
And Control

Considering the sagittal movement and the lateral swing in the humanoid practical walking, a new humanoid passive dynamic bipedal robot with the lateral movable upper body is proposed in this paper. The finite state machine (FSM) theory is adopted to control the robot, which changes agilely the control strategy according to the practical states of the humanoid gait. In the method, the torque compensation adaptive excitation control strategy is used for sagittal control and PID is applied to the upper body for the robots lateral stability. It is verified by the co-simulation based on ADAMS and MATLAB that the bipedal robot can reach the stable humanoid gait with the high energy efficiency.

scholarly journals Modeling and control of a 4-ADOF upper-body exoskeleton with mechanically decoupled 3-D compliant arm-supports for improved-pHRI

Mechatronics ◽  
2021 ◽  
Vol 73 ◽  
pp. 102406
Author(s):  
Nauman Masud ◽  
Dario Senkic ◽  
Christian Smith ◽  
Magnus Isaksson
Keyword(s):  
Upper Body ◽  
Modeling And Control ◽  
And Control

scholarly journals A Switching System oriented Modeling and Control Strategy for Idle Speed Control of a Hybrid Powertrain

2020 ◽  
Vol 53 (2) ◽  
pp. 14028-14033
Author(s):  
Micha S. Obergfell ◽  
Steven X. Ding ◽  
Frank Wobbe ◽  
Christoph-Marian Goletz ◽  
Michael Folkers ◽  
...  
Keyword(s):  
Control Strategy ◽  
Speed Control ◽  
Switching System ◽  
Hybrid Powertrain ◽  
Modeling And Control ◽  
Idle Speed ◽  
Idle Speed Control ◽  
And Control

Biostability in distribution systems in one city in southern China: Characteristics, modeling and control strategy

2014 ◽  
Vol 26 (2) ◽  
pp. 323-331 ◽  
Author(s):  
Pinpin Lu ◽  
Xiaojian Zhang ◽  
Chiqian Zhang ◽  
Zhangbin Niu ◽  
Shuguang Xie ◽  
...  
Keyword(s):  
Control Strategy ◽  
Distribution Systems ◽  
Southern China ◽  
Modeling And Control ◽  
And Control

NEURAL MODELING AND CONTROL OF DYNAMIC SYSTEMS WITH HYSTERESIS

2007 ◽  
Vol 31 (1) ◽  
pp. 127-141
Author(s):  
Yonghong Tan ◽  
Xinlong Zhao
Keyword(s):  
Dynamic Systems ◽  
Control Strategy ◽  
Neural Modeling ◽  
Modeling And Control ◽  
Control Scheme ◽  
The Neural Networks ◽  
Adaptive Control Strategy ◽  
Set Up ◽  
Modeling Strategy ◽  
And Control

A hysteretic operator is proposed to set up an expanded input space so as to transform the multi-valued mapping of hysteresis to a one-to-one mapping so that the neural networks can be applied to model of the behavior of hysteresis. Based on the proposed neural modeling strategy for hysteresis, a pseudo control scheme is developed to handle the control of nonlinear dynamic systems with hysteresis. A neural estimator is constructed to predict the system residual so that it avoids constructing the inverse model of hysteresis. Thus, the control strategy can be used for the case where the output of hysteresis is unmeasurable directly. Then, the corresponding adaptive control strategy is presented. The application of the novel modeling approach to hysteresis in a piezoelectric actuator is illustrated. Then a numerical example of using the proposed control strategy for a nonlinear system with hysteresis is presented.

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