![]() ![]() This is particularly the case with the control aspect of the robots. This fact indicates that the bipedal robots overall design is a very complex task. ![]() Even though the research topic is relatively old, still, the technology maturity has not been reached and many aspects of the bipedal walking robotics need to be improved. In 1970s Honda started wide research on bipedal robots, which was followed by numerous research project performed by mainly Japan’s companies and universities. ![]() Introductionīipedal robots have been one of the central topics for relatively long time. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system. An inverse plant and a tracking error linearization-based controller design approach is described. This analysis is accompanied by a comparison with experimental data. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. The emphasis of this work is to show that the reference model can be a bipedal walking model with concentrated mass at the center of gravity, which removes the problems related to design of a pseudo-inverse system. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. ![]()
0 Comments
Leave a Reply. |
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |