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http://dx.doi.org/10.5391/JKIIS.2006.16.2.215

Implementation of Multiple Nonlinearities Control for Stable Walking of a Humanoid Robot  

Kong, Jung-Shik (인하대학교 자동화공학과)
Kim, Jin-Geol (인하대학교 전자전기공학부)
Lee, Bo-Hee (세명대학교 전기공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.16, no.2, 2006 , pp. 215-221 More about this Journal
Abstract
This paper is concerned with the control of multiple nonlinearities included in a humanoid robot system. A humanoid robot has some problems such as the structural instability, which leads to consider the control of multiple nonlinearities caused by driver parts as well as gear reducer. Saturation and backlash are typical examples of nonlinearities in the system. The conventional algorithms of backlash control were fuzzy algorithm, disturbance observer and neural network, etc. However, it is not easy to control the system by employing only single algorithm since the system usually includes multiple nonlinearities. In this paper, a switching Pill is considered for a control of saturation and a dual feedback algorithm is proposed for a backlash control. To implement the above algorithms, the system identification is firstly performed for the minimization of the difference between the results of simulation and experiment, and then the switching Pill gains are determined using genetic algorithm with some heuristic approach. The performance of the switching Pill controller for saturation and the dual feedback for backlash control is investigated through the simulation. Finally, it is shown that the implemented control system has good results and can be applied to the real humanoid robot system ISHURO.
Keywords
Nonlinear controller; Humanoid robot; Switching Pill; Motor identification; Genetic algorithm;
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