Disturbance Observer Based HZD Control of Biped Walking and Slip Recovery

نویسندگان

  • Yoshitaka Abe
  • Kuo Chen
  • Mitja Trkov
  • Jingang Yi
  • Seiichiro Katsura
چکیده

Robust walking under various ground condition is required for application of biped robots. Some researches deal with the biped robot control considering foot slip as [1] and [2]. However, few research deal with recovery control after slip. Our work presents balance recovery trajectory design and disturbance-observer (DOB) based control [3]. Balance recovery trajectory is designed through slip recovery gait of human [4]. DOB requires only nominal model, and realizes a precise and robust control system [5].

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Reconstructing human push recovery reactions using a three dimensional under-actuated bipedal robot

This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

متن کامل

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

متن کامل

Using Equilibria and Virtual Holonomic Constraints to Generate Families of Walking Gaits

We present a principled approach to generating walking gaits for pointand curved-feet, underactuated, multi-degreeof-freedom, 2D and 3D biped walkers subject to a biped’s hybrid dynamics and user-defined virtual holonomic constraints (constraints that are enforced through feedback control). Specifically, we combine numerical continuation methods (NCM) and the hybrid zero dynamics (HZD) framewor...

متن کامل

Control of Quadrotor Using Sliding Mode Disturbance Observer and Nonlinear H∞

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

متن کامل

From Passive Dynamic Walking to Passive Turning of Biped walker

Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2017