Robust compound control of dynamic bipedal robots

Abstract:

This paper presents a robust compound control strategy to produce a stable gait in dynamic bipedal robots under random perturbations. The proposed control strategy consists of two interactive loops: an adaptive trajectory generator and a robust trajectory tracking controller. The adaptive trajectory generator produces references for the robot controlled joints without a-priori knowledge of the terrain features and minimizes the effects of disturbances and model uncertainties during the gait, particularly during the support-leg exchange. The trajectory tracking controller is a non-switching robust multivariable generalized proportional integral (GPI) controller. The GPI controller rejects external disturbances and uncertainties faced by the robot during the swing walking phase. The proposed control strategy was evaluated on the numerical model of a five-link planar bipedal robot with one degree of under-actuation, four …

Año de publicación:

2019

Keywords:

Fuente:

google