{"title":"Mechanism analysis and suppression control strategy of frictional impact for humanoid robots","authors":"","doi":"10.1007/s41315-024-00319-0","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>Stability and robustness are the important expressions of intelligent walking ability of biped robots. The Zeno behavior caused by the frictional impact of knee joints affects the stability during the dynamic walking, which has greatly limited robot’s application and efficiency. Based on the analysis of the intrinsic mechanism of Zeno behavior, this paper aims to explore biped walking control methods to provide theoretical basis and key technologies for suppressing Zeno behavior. The internal relationship between Zeno behavior and robot knee joint collision is built by studying the cause of Zeno behavior. An event-based feedback controller is proposed to deal with the problem of stabilization of Zeno periodic orbit. It is achieved adaptive periodic stable walking in complex environment based on event-based and hybrid zero dynamic control strategy, which proposes the stability analysis method based on Poincare return map. Meanwhile, the identify parameters of dynamic equations with Zeno behavior is utilized with genetic algorithm and particle swarm optimization. Finally, the effectiveness of the proposed method is verified by simulations.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00319-0","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
Stability and robustness are the important expressions of intelligent walking ability of biped robots. The Zeno behavior caused by the frictional impact of knee joints affects the stability during the dynamic walking, which has greatly limited robot’s application and efficiency. Based on the analysis of the intrinsic mechanism of Zeno behavior, this paper aims to explore biped walking control methods to provide theoretical basis and key technologies for suppressing Zeno behavior. The internal relationship between Zeno behavior and robot knee joint collision is built by studying the cause of Zeno behavior. An event-based feedback controller is proposed to deal with the problem of stabilization of Zeno periodic orbit. It is achieved adaptive periodic stable walking in complex environment based on event-based and hybrid zero dynamic control strategy, which proposes the stability analysis method based on Poincare return map. Meanwhile, the identify parameters of dynamic equations with Zeno behavior is utilized with genetic algorithm and particle swarm optimization. Finally, the effectiveness of the proposed method is verified by simulations.
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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