Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
Author:
Spyrakos-Papastavridis Emmanouil1, Dai Jian S.2, Childs Peter R. N.1, Tsagarakis Nikos G.3
Affiliation:
1. Dyson School of Design Engineering, Imperial College London, South Kensington Campus, London SW7 2AZ, UK e-mail: 2. Centre for Robotics Research, King's College London, Strand, London WC2R 2 LS, UK e-mail: 3. Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30, Genova 16163, Italy e-mail:
Abstract
This paper presents unified control schemes for compliant humanoid robots that are aimed at ensuring successful execution of both balancing tasks and walking trajectories for this class of bipeds, given the complexity of under-actuation. A set of controllers corresponding to the single-support (SS) and double-support (DS) walking phases has been designed based on the flexible sagittal joint dynamics of the system, accounting for both the motor and link states. The first controller uses partial state feedback (proportional–derivative–derivative (PDD)), whereas the second considers the full state of the robot (proportional–proportional–derivative–derivative (PPDD)), while both are mathematically proven to stabilize the closed-loop systems for regulation and trajectory tracking tasks. It is demonstrated mathematically that the PDD controller possesses better stability properties than the PPDD scheme for regulation tasks, even though the latter has the advantage of allowing for its associated gain-set to be generated by means of standard techniques, such as linear quadratic regulator (LQR) control. A switching condition relating the center-of-pressure (CoP) to the energy functions corresponding to the DS and SS models has also been established. The theoretical results are corroborated by means of balancing and walking experiments using the COmpliant huMANoid (COMAN), while a practical comparison between the designed controller and a classical PD controller for compliant robots has also been performed. Overall, and a key conclusion of this paper, the PPDD scheme has produced a significantly improved trajectory tracking performance, with 9%, 15%, and 20% lower joint space error for the hip, knee, and ankle, respectively.
Funder
Seventh Framework Programme
Publisher
ASME International
Subject
Mechanical Engineering
Reference44 articles.
1. Zero-Moment Point—Thirty Five Years of Its Life;Int. J. Human. Rob.,2004 2. Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point;IEEE Trans. Syst., Man., Cyber,2004 3. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T., 1998, “The Development of Honda Humanoid Robot,” IEEEInternational Conference on Robotics and Automation, Leuven, Belgium, May 16–20, pp. 1321–1326.10.1109/ROBOT.1998.677288 4. Pratt, J., and Pratt, G., 1998, “Intuitive Control of a Planar Bipedal Walking Robot,” IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16–20, pp. 2014–2021.10.1109/ROBOT.1998.680611 5. Sensory Reflex Control for Humanoid Walking;IEEE Trans. Rob.,2005
Cited by
12 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
1. Stable Flexible-Joint Floating-Base Robot Balancing and Locomotion via Variable Impedance Control;IEEE Transactions on Industrial Electronics;2023-03 2. Stiffness evaluation of a novel ankle rehabilitation exoskeleton with a type-variable constraint;Mechanism and Machine Theory;2023-01 3. Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009);Journal of Mechanisms and Robotics;2022-08-09 4. Stiffness Evaluation of a Novel Ankle Rehabilitation Exoskeleton with a Type-Variable Constraint;SSRN Electronic Journal;2022 5. Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis;Robotica;2021-10-06
|
|