Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control
This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated...
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| Format: | Article |
| Language: | English |
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Wiley
2010-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2010/278597 |
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| author | Elvedin Kljuno Robert L. Williams |
| author_facet | Elvedin Kljuno Robert L. Williams |
| author_sort | Elvedin Kljuno |
| collection | DOAJ |
| description | This article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. 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. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system. |
| format | Article |
| id | doaj-art-474d22b2dec74dc9ae2e6baba1e6d39b |
| institution | DOAJ |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-474d22b2dec74dc9ae2e6baba1e6d39b2025-08-20T02:39:19ZengWileyJournal of Robotics1687-96001687-96192010-01-01201010.1155/2010/278597278597Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling ControlElvedin Kljuno0Robert L. Williams1Department of Mechanical Engineering, Ohio University, USADepartment of Mechanical Engineering, Ohio University, USAThis article presents reference-model-based control design for a 10 degree-of-freedom bipedal walking robot, using nonlinear gain scheduling. The main goal is to show concentrated mass models can be used for prediction of the required joint torques for a bipedal walking robot. Relatively complicated architecture, high DOF, and balancing requirements make the control task of these robots difficult. Although linear control techniques can be used to control bipedal robots, nonlinear control is necessary for better performance. 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. Another significance of this approach is the reduced calculation requirements due to the simplified procedure of nominal joint torques calculation. Kinematic and dynamic analysis is discussed including results for joint torques and ground force necessary to implement a prescribed walking motion. This analysis is accompanied by a comparison with experimental data. An inverse plant and a tracking error linearization-based controller design approach is described. We propose a novel combination of a nonlinear gain scheduling with a concentrated mass model for the MIMO bipedal robot system.http://dx.doi.org/10.1155/2010/278597 |
| spellingShingle | Elvedin Kljuno Robert L. Williams Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control Journal of Robotics |
| title | Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control |
| title_full | Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control |
| title_fullStr | Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control |
| title_full_unstemmed | Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control |
| title_short | Humanoid Walking Robot: Modeling, Inverse Dynamics, and Gain Scheduling Control |
| title_sort | humanoid walking robot modeling inverse dynamics and gain scheduling control |
| url | http://dx.doi.org/10.1155/2010/278597 |
| work_keys_str_mv | AT elvedinkljuno humanoidwalkingrobotmodelinginversedynamicsandgainschedulingcontrol AT robertlwilliams humanoidwalkingrobotmodelinginversedynamicsandgainschedulingcontrol |