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Humanoid Walking Robot : Modeling, Inverse Dynamics, and Gain Scheduling Control
Joint Authors
Kljuno, Elvedin
Williams, Robert L.
Source
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-09-30
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Kljuno, Elvedin& Williams, Robert L.. 2010. Humanoid Walking Robot : Modeling, Inverse Dynamics, and Gain Scheduling Control. Journal of Robotics،Vol. 2010, no. 2010, pp.1-19.
https://search.emarefa.net/detail/BIM-459749
Modern Language Association (MLA)
Kljuno, Elvedin& Williams, Robert L.. Humanoid Walking Robot : Modeling, Inverse Dynamics, and Gain Scheduling Control. Journal of Robotics No. 2010 (2010), pp.1-19.
https://search.emarefa.net/detail/BIM-459749
American Medical Association (AMA)
Kljuno, Elvedin& Williams, Robert L.. Humanoid Walking Robot : Modeling, Inverse Dynamics, and Gain Scheduling Control. Journal of Robotics. 2010. Vol. 2010, no. 2010, pp.1-19.
https://search.emarefa.net/detail/BIM-459749
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-459749