LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion
In this paper, we propose a novel model, the Linear Inverted Pendulum with Cart-Plate Model (LIPCPM), which combines the Linear Inverted Pendulum Model (LIPM) with a mass-spring-damper model to simultaneously control both the legged robot and the sloshing phenomenon. A legged robot transporting liqu...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10976704/ |
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| author | Hosun Kang Jaehyung Park Dongyoung Lee Jungmin Lee Inho Lee |
| author_facet | Hosun Kang Jaehyung Park Dongyoung Lee Jungmin Lee Inho Lee |
| author_sort | Hosun Kang |
| collection | DOAJ |
| description | In this paper, we propose a novel model, the Linear Inverted Pendulum with Cart-Plate Model (LIPCPM), which combines the Linear Inverted Pendulum Model (LIPM) with a mass-spring-damper model to simultaneously control both the legged robot and the sloshing phenomenon. A legged robot transporting liquid-filled container exhibits significant nonlinearities due to the sloshing dynamics of fluid movement within a confined container and the dynamics of legged robot itself. Therefore, controlling the legged robot and sloshing phenomenon together will bring challenges. Since the robot receives the reaction forces by the sloshing dynamics, simply implementing LIPM on the robot carrying a liquid container would not be enough. So, we analyzed how the reaction forces affect the robot with actual experiments and tabulated the system parameters that can be integrated with the LIPM. The experimental results show that the reaction forces by the sloshing dynamics are similar to those of a second-order response. The proposed model could be utilized with the Model Predictive Control (MPC), and predicted future states of the robot and liquid were controlled as we desired. Finally, we demonstrate the effectiveness of the proposed system in simulation with experimental-based system parameters for reliability. According to the results, the Root Mean Square Error (RMSE) of sloshing phenomenon under various conditions was decreased by approximately 70 %. |
| format | Article |
| id | doaj-art-3cced785ebee452aa1433b10ce2ec98f |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-3cced785ebee452aa1433b10ce2ec98f2025-08-20T03:49:22ZengIEEEIEEE Access2169-35362025-01-0113807868079510.1109/ACCESS.2025.356429110976704LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot LocomotionHosun Kang0https://orcid.org/0000-0002-6123-6637Jaehyung Park1https://orcid.org/0009-0005-5454-7719Dongyoung Lee2https://orcid.org/0009-0001-1018-6916Jungmin Lee3https://orcid.org/0009-0006-8849-2661Inho Lee4https://orcid.org/0000-0002-5046-5207Department of Electronics Engineering, Pusan National University, Busan, South KoreaDepartment of Electronics Engineering, Pusan National University, Busan, South KoreaDepartment of Electronics Engineering, Pusan National University, Busan, South KoreaDepartment of Electronics Engineering, Pusan National University, Busan, South KoreaDepartment of Electronics Engineering, Pusan National University, Busan, South KoreaIn this paper, we propose a novel model, the Linear Inverted Pendulum with Cart-Plate Model (LIPCPM), which combines the Linear Inverted Pendulum Model (LIPM) with a mass-spring-damper model to simultaneously control both the legged robot and the sloshing phenomenon. A legged robot transporting liquid-filled container exhibits significant nonlinearities due to the sloshing dynamics of fluid movement within a confined container and the dynamics of legged robot itself. Therefore, controlling the legged robot and sloshing phenomenon together will bring challenges. Since the robot receives the reaction forces by the sloshing dynamics, simply implementing LIPM on the robot carrying a liquid container would not be enough. So, we analyzed how the reaction forces affect the robot with actual experiments and tabulated the system parameters that can be integrated with the LIPM. The experimental results show that the reaction forces by the sloshing dynamics are similar to those of a second-order response. The proposed model could be utilized with the Model Predictive Control (MPC), and predicted future states of the robot and liquid were controlled as we desired. Finally, we demonstrate the effectiveness of the proposed system in simulation with experimental-based system parameters for reliability. According to the results, the Root Mean Square Error (RMSE) of sloshing phenomenon under various conditions was decreased by approximately 70 %.https://ieeexplore.ieee.org/document/10976704/Anti-sloshingbipedal robotlegged robotmodel-based controlmodel predictive controlsloshing dynamics |
| spellingShingle | Hosun Kang Jaehyung Park Dongyoung Lee Jungmin Lee Inho Lee LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion IEEE Access Anti-sloshing bipedal robot legged robot model-based control model predictive control sloshing dynamics |
| title | LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion |
| title_full | LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion |
| title_fullStr | LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion |
| title_full_unstemmed | LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion |
| title_short | LIPCPM: A Novel Model for Anti-Sloshing and Stable Bipedal Robot Locomotion |
| title_sort | lipcpm a novel model for anti sloshing and stable bipedal robot locomotion |
| topic | Anti-sloshing bipedal robot legged robot model-based control model predictive control sloshing dynamics |
| url | https://ieeexplore.ieee.org/document/10976704/ |
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