Article
Chemistry, Analytical
Zhao Zhang, Lei Zhang, Shan Xin, Ning Xiao, Xiaoyan Wen
Summary: An improved model predictive control (MPC) method based on the divergent components of motion (DCM) is proposed in order to enable humanoid robots to walk robustly in the presence of interference. The method simplifies the robot model and plans the gait based on DCM, allowing the center of mass (CoM) to converge to the DCM and simplifying the feedback control process. The proposed MPC controller incorporates an extended Kalman filter (EKF) to track the desired DCM trajectory and compensate for CoM trajectory errors caused by disturbances. Simulation results show improvements compared to the traditional method in both disturbed walking and uneven-terrain walking.
Article
Engineering, Mechanical
Tran Thien Huan, Ho Pham Huy Anh
Summary: This paper proposes a new control approach using flywheel-based auto-balance to improve the biped push recovery of humanoid robots. The approach includes a neural controller for robust biped walking and a proportional integral controller to regulate the flywheel integrated to the humanoid upper body. Experimental results demonstrate that the proposed method enables stable walking of the humanoid robot.
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING
(2023)
Article
Mechanics
A. Kalouguine, V De-Leon-Gomez, C. Chevallereau, S. Dalibard, Y. Aoustin
Summary: This paper defines anthropomorphic walking motion for the humanoid robot Romeo by adapting human lower and upper limb motions to Romeo, considering its kinematics and motor power. The proposed walking includes starting, periodic, and stopping motions, with a boundary value problem solved for each movement. The trajectory of the ZMP is explicitly defined over time, showing the efficiency of the strategy to design human-like walking for Romeo.
MULTIBODY SYSTEM DYNAMICS
(2021)
Article
Chemistry, Analytical
Juan Manuel Gomez-Quispe, Gustavo Perez-Zuniga, Diego Arce, Fiorella Urbina, Sareli Gibaja, Renato Paredes, Francisco Cuellar
Summary: This paper proposes a nonlinear controller based on a mathematical model for tracking and executing the movements of the arms and head of a humanoid robot. By comparative analysis, the nonlinear Backstepping control technique was selected for implementation and its performance was validated through experiments.
Article
Automation & Control Systems
Chengju Liu, Tong Zhang, Changzhu Zhang, Ming Liu, Qijun Chen
Summary: An online foot position compensator (FPC) is proposed in this paper to enhance the robustness of humanoid walking, based on orbital energy conservation and discrete control Lyapunov function (DCLF), aiming to maintain the asymptotic stability of the humanoid system through improved foot placement control. Additionally, a strategy of upper body posture control is suggested to further enhance the robustness of humanoid robots against strong external disturbances, stabilizing the robot by modulating the upper body posture online using hip joints. The effectiveness of the proposed methods is verified through Webots simulations and real experiments on a full-body NAO humanoid robot.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Tianyi Zeng, Abdelkhalick Mohammad, Andres Gameros Madrigal, Dragos Axinte, Max Keedwell
Summary: In this study, a human-robotic collaborative control system is developed for accurate path tracking subject to unknown external disturbances and multiple physical constraints. The system includes features such as a sliding-mode disturbance rejection term, tightened constraints, and real-time human modification of performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Computer Science, Artificial Intelligence
Yucong Wu, Yang Pan, Xiaokun Leng, Zhicheng He
Summary: This paper presents a humanlike walking control framework based on the DCM com planning method that enables a child-sized humanoid robot to walk with a humanoid pattern. The framework includes three parts: the human-like gait generation, dynamic replan, and upper body stabilization controller.
PEERJ COMPUTER SCIENCE
(2022)
Article
Automation & Control Systems
Abhishek Kumar Kashyap, Dayal R. Parhi
Summary: The study focuses on gait planning for a humanoid robot NAO using the LIPM model and a PID controller tuned with PSO technique. The results show that applying the PSO tuned PID controller provides a predictable gait, reduces stabilization time, and essentially eliminates overshoot by 25%. Comparisons with other controllers and statistical analysis support the credibility of the proposed controller.
Article
Chemistry, Multidisciplinary
Jaeuk Cho, Jong Hyeon Park
Summary: This paper proposes a method for online motion control of a running biped robot on an uneven terrain based on a dual linear inverted pendulum model (D-LIPM) and hierarchical control. The method generates the trajectory of the center of mass (COM) using linear model predictive control (MPC) and generates the angular motions of the robot using quadratic-problem (QP) based momentum control, ensuring stable bipedal running on uneven terrains.
APPLIED SCIENCES-BASEL
(2022)
Article
Automation & Control Systems
Yun-Ho Han, Baek-Kyu Cho
Summary: This paper proposes a new algorithm for humanoid robots to walk on a slope, addressing the challenge of achieving stable biped walking without using an IMU sensor in complex environments. The algorithm includes a slope observer that estimates the robot's angle, angular velocity, and slope angle, as well as a controller for posture control and stabilization. Experimental results validate the effectiveness of the proposed approach.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2022)
Article
Automation & Control Systems
Saga V. Rakovic, Sixing Zhang
Summary: This paper proposes a new formulation of model predictive control for linear discrete time systems under state and control constraints. The main novelty of the proposed formulation is the introduction, and a computationally adequate utilization, of the implicit terminal constraint set and the implicit terminal cost function. The proposed model predictive control retains a priori guarantees of the highly desirable positive invariance and exponential stability properties.
Article
Automation & Control Systems
Beomyeong Park, Jaeheung Park
Summary: This paper proposes a heel-toe walking method that can be used with the CoM trajectory generated using the MPC scheme. The stability of the MPC scheme is proved in this paper. The increase in step length and the decrease in singularity occurrence due to heel-toe walking were compared and analyzed in the simulation. The experiment verified the proposed heel-toe method.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2023)
Article
Engineering, Electrical & Electronic
Rudolf Janos, Marek Sukop, Jan Semjon, Peter Tuleja, Peter Marcinko, Martin Kocan, Maksym Grytsiv, Marek Vagas, L'ubica Mikova, Tatiana Kelemenova
Summary: Robotic football with humanoid robots is a multidisciplinary field. This study aims to determine a walking pattern for a humanoid robot with an impact on its dynamic stability and behavior. The design of the proposed technical concept depends on stability management mechanism, walking speed, and chosen stability approaches. The complexity of the walking principle and control of the robot's movement limit the versatility and adaptability of the humanoid robot.
Article
Energy & Fuels
Weijiang Zheng, Bing Zhu
Summary: This paper proposes a stochastic model predictive control (MPC) for wheeled mobile robots to track a reference trajectory within a finite task horizon. The control approach linearizes and discretizes the nonlinear robot model, and incorporates learning-based techniques for transforming probability constraints into deterministic ones. The proposed stochastic MPC is proven to bound the tracking error of the closed-loop system.
FRONTIERS IN ENERGY RESEARCH
(2021)
Article
Automation & Control Systems
Lingxuan Zhao, Zhangguo Yu, Lianqiang Han, Xuechao Chen, Xuejian Qiu, Qiang Huang
Summary: Wheeled-legged humanoid robots combine humanoid robot's terrain adaptability and wheeled robot's efficiency. However, stability control in dealing with rough terrains and external disturbances remains unsolved. This research proposes a compliant balance control framework that can absorb shocks, withstand disturbances, and maintain stable motion.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Robotics
Aime Charles Alfred Dione, Shoichi Hasegawa
Summary: This study proposes a new method to solve the kinematic hyper redundancy problem in posture control of a robotic arm with redundant degrees of freedom. By controlling strategic points along the arm, the method guides the overall motion of the arm towards the target posture. The method is capable of safely and accurately tracking target postures that are significantly different from the initial posture.
Article
Robotics
Peirang Li, Naoya Ueda, Chi Zhu
Summary: This study focuses on the traditional attendant-propelled power-assist wheelchairs (APAWs) and identifies the discomfort caused by changes in handle velocity when passing through a slope. To address this issue, a velocity compensation method is proposed and validated through simulations and experiments.
Article
Robotics
Juan Padron, Kenta Tatsuda, Kiyoshi Ohishi, Yuki Yokokura, Toshimasa Miyazaki
Summary: This paper proposes a method that takes into account real-time posture-dependent inertial variation to achieve exact dynamic compensation and independent control of each axis for industrial robots. By discretizing the state equations of the posture-variant two-inertia system model, the whole control system can be easily redeisgned at each control cycle to address the issues caused by posture changes.
