两足机器人稳定行走的先进飞轮平衡

2022 6th International Conference on Green Technology and Sustainable Development (GTSD) Pub Date : 2022-07-29 DOI:10.1109/GTSD54989.2022.9989303

T. T. Huan, Cao Van Kien, N. Dat, H. Anh

{"title":"两足机器人稳定行走的先进飞轮平衡","authors":"T. T. Huan, Cao Van Kien, N. Dat, H. Anh","doi":"10.1109/GTSD54989.2022.9989303","DOIUrl":null,"url":null,"abstract":"An advanced flywheel-based balance for biped robots is presented to follow the desired gait. Firstly, a dynamic model of hybrid biped-flywheel in walking is built. Then, a new balance controller is designed based on a flywheel located at the upper biped body, which is a closed-loop controller with the feedback signal being the tilt angle of the upper biped body related to the gravity acceleration to keep the biped body parallel to the ground exactly the desired gait. The PD+ controller is implemented whose parameters will be optimized using the multi-objective MO-Jaya algorithm. Eventually, proposed solution is successfully applied for the small-sized biped robot (HUBOT-4.1) to robustly walk in balance along with the desired gait. Simulation and experiment results prove that the proposed solution is effective","PeriodicalId":125445,"journal":{"name":"2022 6th International Conference on Green Technology and Sustainable Development (GTSD)","volume":"81 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Advanced Flywheel-based Balance for Biped Robot Stably Walking\",\"authors\":\"T. T. Huan, Cao Van Kien, N. Dat, H. Anh\",\"doi\":\"10.1109/GTSD54989.2022.9989303\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An advanced flywheel-based balance for biped robots is presented to follow the desired gait. Firstly, a dynamic model of hybrid biped-flywheel in walking is built. Then, a new balance controller is designed based on a flywheel located at the upper biped body, which is a closed-loop controller with the feedback signal being the tilt angle of the upper biped body related to the gravity acceleration to keep the biped body parallel to the ground exactly the desired gait. The PD+ controller is implemented whose parameters will be optimized using the multi-objective MO-Jaya algorithm. Eventually, proposed solution is successfully applied for the small-sized biped robot (HUBOT-4.1) to robustly walk in balance along with the desired gait. Simulation and experiment results prove that the proposed solution is effective\",\"PeriodicalId\":125445,\"journal\":{\"name\":\"2022 6th International Conference on Green Technology and Sustainable Development (GTSD)\",\"volume\":\"81 1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2022-07-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2022 6th International Conference on Green Technology and Sustainable Development (GTSD)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/GTSD54989.2022.9989303\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 6th International Conference on Green Technology and Sustainable Development (GTSD)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/GTSD54989.2022.9989303","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

提出了一种先进的基于飞轮的两足机器人平衡系统，使其能够遵循期望的步态。首先，建立了两足-飞轮混合行走的动力学模型。然后，设计了一种新的基于飞轮的平衡控制器，该控制器是一种闭环控制器，其反馈信号为上两足体与重力加速度相关的倾斜角，以使两足体与地面保持精确的平行步态。实现了PD+控制器，并采用多目标MO-Jaya算法对其参数进行优化。最终，所提出的解决方案成功应用于小型双足机器人(HUBOT-4.1)，使其能够以期望的步态稳健地平衡行走。仿真和实验结果证明了该方法的有效性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Advanced Flywheel-based Balance for Biped Robot Stably Walking

An advanced flywheel-based balance for biped robots is presented to follow the desired gait. Firstly, a dynamic model of hybrid biped-flywheel in walking is built. Then, a new balance controller is designed based on a flywheel located at the upper biped body, which is a closed-loop controller with the feedback signal being the tilt angle of the upper biped body related to the gravity acceleration to keep the biped body parallel to the ground exactly the desired gait. The PD+ controller is implemented whose parameters will be optimized using the multi-objective MO-Jaya algorithm. Eventually, proposed solution is successfully applied for the small-sized biped robot (HUBOT-4.1) to robustly walk in balance along with the desired gait. Simulation and experiment results prove that the proposed solution is effective

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2022 6th International Conference on Green Technology and Sustainable Development (GTSD)

自引率

0.00%

发文量