A Comparison of Multivariable &amp; Decentralized Control Strategies for Robust Humanoid Walking

Dallali, Houman; Medrano-Cerda, Gustavo A.; Brown, M.

doi:10.1049/ic.2010.0286

Cited by 11 publications

(8 citation statements)

References 8 publications

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“…That approach was used for stabilization and not for tracking of the swing leg system. In 2010, Dallali et al [14] presented a comparison between PID and Linear Quadratic Regulator (LQR) controllers. The PID controller has been used as a basis for quantification of robustness and performance of humanoid robots.…”

Section: Related Workmentioning

confidence: 99%

State Feedback Sliding Mode Controller Design for Human Swing Leg System

Ali

Abdulridha

2018

NJES

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In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

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Section: Related Workmentioning

confidence: 99%

State Feedback Sliding Mode Controller Design for Human Swing Leg System

Ali

Abdulridha

2018

NJES

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“…The goal is that the simulator will become a good representation of the real system. Our current interest is to use the simulator for designing, testing and comparing different control systems, Dallali et al (2010). Users that are interested in methods for trajectory generation can also use this model.…”

Section: Robotran-matlab Simulator Demo Modelsmentioning

confidence: 99%

Modelling and Simulation of the Locomotion of Humanoid Robots

Medrano-Cerda

Dallali

Brown

et al. 2010

UKACC International Conference on CONTROL 2010

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Modelling and simulation is a critical stage in the design and testing of complex systems, in particular humanoid robots. Our motivation to develop a new simulator is that existing tools do not provide the flexibility needed for modelling the C-Cub, the most recent open source humanoid robot with compliant joints developed at the Italian Institute of Technology (IIT). Furthermore, we are interested in a simulator where the user has the ability to customize the simulation in order to represent the actuators and sensors that are actually used. In this paper, a simulator based on Robotran, a symbolic multibody modelling software tool, and Matlab is described. The approach presented in the paper has been used to develop and test control systems for the C-Cub and an earlier version (iCub).

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“…A torque has been applied to the hip joint to restore the lost energy. Dallali et al [5], presented a comparison between PID and Linear Quadratic Regulator (LQR) controllers. A better robustness was obtained from the LQR controller.…”

Section: Introductionmentioning

confidence: 99%

H-infinity Sliding Mode Controller Design for a Human Swing Leg System

Ali

Abdulridha

2020

NJES

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In this paper, the H-infinity Sliding Mode Control (HSMC) is designed to produce a new dynamic output feedback controller for trajectory tracking of the nonlinear human swing leg system. The human swing leg system represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg is represented by two pendulum links and the hip joint will connect the upper body to the thigh and the knee joint will connect the thigh to the shank. The external torques (servo motors) are applied at the hip and knee joints to move the muscles of thigh and shank. The results show that the HSMC can robustly stabilize the system and achieve a desirable time response specification better than if only H-infinity or SMC is used. This controller achieves the following specifications: sec, for hip joint and sec, for knee joint.

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A Comparison of Multivariable & Decentralized Control Strategies for Robust Humanoid Walking

Cited by 11 publications

References 8 publications

State Feedback Sliding Mode Controller Design for Human Swing Leg System

State Feedback Sliding Mode Controller Design for Human Swing Leg System

Modelling and Simulation of the Locomotion of Humanoid Robots

H-infinity Sliding Mode Controller Design for a Human Swing Leg System

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