• Title/Summary/Keyword: Biped Control

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Hybrid Control of 5-Link Biped Robot Using a Wavelet Neural Network (웨이블릿 신경회로망을 이용한 5링크 이족로봇의 하이브리드 제어)

  • Kim, Chul-Ha;Choi, Yoon-Ho;Park, Jin-Bae
    • Proceedings of the KIEE Conference
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    • 2005.07d
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    • pp.2717-2719
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    • 2005
  • Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid control system to improve the efficiency of position tracking performance of biped locomotion. In our control system, the wavelet neural network (WNN) based on Sliding mode controller is used as a main controller which estimates a biped robot model, and the compensated controller is proposed to compensate the estimation error. A WNN is utilized to estimate uncertain and nonlinear system parameters, where the weights of WNN are trained by adaptive laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.

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Balance Control of a Biped Robot Using the ZMP State Prediction of the Kalman Estimator (칼만예측기의 ZMP 상태추정을 통한 이족로봇의 균형제어기법)

  • Park, Sang-Bum;Han, Young-Jun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.16 no.5
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    • pp.601-607
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    • 2006
  • This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.

Use of Support Vector Machines in Biped Humanoid Robot for Stable Walking (안정적인 보행을 위한 이족 휴머노이드 로봇에서의 서포트 벡터 머신 이용)

  • Kim Dong-Won;Park Gwi-Tae
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.4
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    • pp.315-319
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    • 2006
  • Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.

Control of a Biped Walking Robot using ZMP Formulation (균형점 정형화를 이용한 이족보행로봇 제어)

  • Lim, Sun-Ho;Kim, Jin-Geol
    • The Transactions of the Korean Institute of Electrical Engineers A
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    • v.48 no.8
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    • pp.1022-1030
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    • 1999
  • This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

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Trajectory Generation and Dynamic Control of Planar Biped Robots With Curved Soles

  • Yeon Je-Sung;Kwon O-Hung;Park Jong-Hyeon
    • Journal of Mechanical Science and Technology
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    • v.20 no.5
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    • pp.602-611
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    • 2006
  • This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

Control of Biped Robots Based on Impedance Control and Computed-Torque Control (계산-토크 제어와 임피던스 제어를 이용한 2족 보행 로봇의 제어)

  • Jeong, Ho-Am;Park, Jong-Hyeon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.6 s.177
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    • pp.1513-1519
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    • 2000
  • This paper proposes a hybrid control method of using impedance control and the computed-torque control for biped robot locomotion. Computed torque control is used for supporting (constrained) leg. For the free leg, the impedance control is used, where different values of impedance parameters are used depending on the gait phase of the biped robot. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. Computer simulations with a 3 -dof environment model for which a combination of a nonlinear and a linear compliant models is used, show that the proposed controller is superior to the computed-torque controllers in reducing impacts and stabilizing the footing.

Biped Walking of Hydraulic Humanoid Robot on Inclined Floors (유압식 이족 휴머노이드 로봇의 경사면 보행 연구)

  • Kim, Jung-Yup
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.3
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    • pp.258-266
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    • 2012
  • This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

The Intelligent Control System for Biped Robot Using Hierarchical Mixture of Experts (계층적 모듈라 신경망을 이용한 이동로봇 지능제어기)

  • Choi Woo-Kyung;Ha Sang-Hyung;Kim Seong-Joo;Kim Yong-Taek;Jeon Hong-Tae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.16 no.4
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    • pp.389-395
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    • 2006
  • This paper proposes the controller for biped robot using intelligent control algorithm. In order to simplify the complexity of biped robot control, manipulator of biped robot is divided into four modules. These modules are controlled by intelligent algorithm with Hierarchical Mixture of Experts(HME) using neural network. Also neural network having direct control method learns the inverse dynamics of biped robot. The HME, which is a network of tree structure, reallocates the input domain for the output by learning pattern of input and output. In this paper, as a result of learning HME repeatedly with EM algorithm, the controller for biped robot operating safety walking is designed by modelling dynamics of biped robot and generating virtual error of HME.

A study on the control for impactless gait of biped robot (이족보행로봇의 비충격 걸음새를 위한 제어에 관한 연구)

  • 박인규;김진걸
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.536-539
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    • 1997
  • This paper presents a three dimensional modeling and a trajectory generation for minimized impact walking of the biped robot. Inverse dynamic analysis and forward dynamic analysis are performed considering impact force between the foot and ground for determining the actuator capacity and for simulating the proposed biped walking robot. Double support phase walking is considered for close to human's with adding the kinematic constraints on the one of the single support phase.

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A study on The Real-Time Implementation of Intelligent Control Algorithm for Biped Robot Stable Locomotion (2족 보행로봇의 안정된 걸음걸이를 위한 지능제어 알고리즘의 실시간 실현에 관한 연구)

  • Nguyen, Huu-Cong;Lee, Woo-Song
    • Journal of the Korean Society of Industry Convergence
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    • v.18 no.4
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    • pp.224-230
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    • 2015
  • In this paper, it is presented a learning controller for repetitive walking control of biped walking robot. We propose the iterative learning control algorithm which can learn periodic nonlinear load change ocuured due to the walking period through the intelligent control, not calculating the complex dynamics of walking robot. The learning control scheme consists of a feedforward learning rule and linear feedback control input for stabilization of learning system. The feasibility of intelligent control to biped robotic motion is shown via dynamic simulation with 25-DOF biped walking robot.