Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Virtual Model Control of a Posture Balancing Biped Acrobatic Robot with Fuzzy Control for Pendulum Swing Motion Generation

진자 흔들기 퍼지 제어기가 추가된 가상모델 제어 2족 곡예로봇 자세 균형 제어

  • Lee, Byoung-Soo (Faculty of Mech. & Automotive Engineering. Keimyung University)
  • 이병수 (계명대학교 기계자동차공학부)
  • Published : 2001.11.01
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Abstract

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

Keywords

References

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