Adaptive dynamic balance control of humanoid robot based on leg joints

Yang, Liang; Liang, Ruishi; Fu, Yu; Fu, Genping; Tian, Bo

doi:10.1109/ccdc.2015.7161917

Cited by 1 publication

(3 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where (x zmp , y zmp ) denotes the coordinate of ZMP; g is gravity acceleration; z c and € z c are, respectively, the position and acceleration of the center of the mass of robot. The yaw moment T z is defined as below 20 T z =…”

Section: Analysis Of Locomotion Stability and Bivariate Stability Marginmentioning

confidence: 99%

“…, w i ) is weight matrix. After that, an adaptive controller in Yang et al 20 is developed to track the desired trajectories.…”

Section: Bivariate-stability-margin-based Rvflnns Designmentioning

confidence: 99%

“…However, this assumption is not easy to be met in practical application. As pointed out in the literature, [18][19][20] yaw moment would inevitably exist due to the fact that the components of robot don't move in the same plane. Usually, the moment equilibrium in vertical direction holds on for the reason that yaw moment can be counteracted by the ground reaction force when the walking speed is slow enough.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Bipedal walking pattern generation and control for humanoid robot with bivariate stability margin optimization

Yang

Chen

2018

Advances in Mechanical Engineering

Self Cite

View full text Add to dashboard Cite

This article concentrates on the problem of walking pattern generation and online control for humanoid robot. However, it is challenging and thus still remains open so far in the field of bipedal locomotion control. In this article, we solve this problem by proposing a bivariate-stability-margin-based control scheme, in which a random vector functionlink neural networks mechanism is additionally contained. By utilizing opposition-based learning algorithm to generate walking patterns and designing random vector function-link neural networks for compensating the combination of zeromoment point error and modeling error, the new walking controller exhibits good performance. Moreover, a bivariatestability-margin-based fuzzy logic system is proposed to assign a weight to each training sample according to locomotion stability. With these results, a walking control system is successfully established and experiments validate the proposed control scheme.

show abstract

Section: Analysis Of Locomotion Stability and Bivariate Stability Marginmentioning

confidence: 99%

“…, w i ) is weight matrix. After that, an adaptive controller in Yang et al 20 is developed to track the desired trajectories.…”

Section: Bivariate-stability-margin-based Rvflnns Designmentioning

confidence: 99%