Discrete Feedback Control for Robust Walking of Biped Dynamic Walker

Yadav, Krishna Prakash; Kumar, Ravindra

doi:10.1109/iccma54375.2021.9646191

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…From Figure 11(a) to (d) it is clearly indicating that all eigenvalues are inside the unit circle, apart from that one of the eigenvalues at origin as expected. 26,27 From Goswami et al 2 analysis, we can be assured that all proposed models with different fault cases have a stable solution for all perturb cases.…”

Section: Model Analysis and Numerical Validationmentioning

confidence: 97%

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Model analysis and control of biped dynamic walker with fault steps in a gait cycle

Yadav

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The biped robot has two identical legs that undergo alternating stance and swing phases during walking. The robot’s motion is facilitated by actuators positioned at the ankle and hip joints. The paper investigates various fault scenarios in dynamic walker models, specifically situations where one or both actuators experience failure while the robot is in motion. The first model assumes faults in both the hip and ankle joints, while the second model assumes a fault only in the ankle joint. The dynamic walker typically undergoes two steps in each cycle. This study specifically examines the different types of faults that may occur during the second step. The goal is to identify the potential walking gaits that can result from these faults. It is observed that walking with faults at both the hip and ankle joints exhibited greater stability and a wider range of stable states compared to walking with a fault only at the ankle joint. This suggests that incorporating hip joint faults or underactuation into robotic or prosthetic gait patterns could improve their stability and overall performance. The local and global stability of the dynamic walker were analyzed using Poincare’s method and the basin of attraction plot, respectively. Additionally, a control algorithm based on kinetic energy shaping is proposed for the second model, which resulted in an increased basin of attraction. Notably, the second model exhibited the ability to walk with variable step length and speed, akin to human locomotion.

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Section: Model Analysis and Numerical Validationmentioning

confidence: 97%

“…From expected. 26,27 From Goswami et al 2 analysis, we can be assured that all proposed models with different fault cases have a stable solution for all perturb cases.…”

Section: Stability Analysis Of Biped Dynamic Walker With Fault Stepsmentioning

confidence: 97%

Model analysis and control of biped dynamic walker with fault steps in a gait cycle

Yadav

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…Despite advances in generating walking patterns based on COM or ZMP criteria [23], [24], the complex nature of humanoid robots can lead to discrepancies between generated patterns and actual responses. Control systems are crucial for accurate trajectory tracking and overcoming discrepancies [25]- [27], with deterministic methods like Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) commonly employed [28]- [30]. These methods have encouraged various studies that have succeeded in realizing stable humanoid robots with COM and ZMP criteria as the popular criteria [31]- [33].…”

Section: Introductionmentioning

confidence: 99%

Humanoid Walking Control Using LQR and ANFIS

Auzan,

Lelono,

Dharmawan

2023

Journal of Robotics and Control

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Humanoid robots possess remarkable mobility and adaptability for diverse environments. Nonetheless, accurate walking pattern tracking remains challenging, especially when employing the linear quadratic regulator (LQR) due to delays in high-mobility setpoint tracking. We propose a novel control approach to address this limitation by integrating an artificial neuro-fuzzy inference system (ANFIS) with the LQR to enhance pattern tracking. The research contributes to developing a control system that combines LQR and ANFIS to enable humanoid robots to follow various walking patterns with increased precision and efficiency and also the scheme to incorporate LQR and ANFIS. The study involves four experiments: step response, walking phase, static straight walking, and varied straight walking. Each test runs for 5 seconds with a 100-millisecond sampling rate, repeated five times, and employs the Integral Absolute Value (IAE) metric for evaluation. The LQR-ANFIS method exhibits superior performance, achieving a maximum overshoot of 0%, a rise time of 0.3 seconds, a settling time of 0.3 seconds, and a steady-state error of 0% in the step response experiment. The proposed control system also enables stable walking with step periods ranging from 0.15 to 4 seconds and step ranges of 0.05 to 0.03 meters. In conclusion, the integration of ANFIS with the LQR significantly enhances the mobility of humanoid robots, enabling them to navigate diverse environments and accurately track various walking patterns proficiently.

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Genetic Algorithm-Based Trajectory Optimization for a Three-Link Biped Robot

Yadav,

Kumar

2023

2023 IEEE 4th Annual Flagship India Council International Subsections Conference (INDISCON)

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Discrete Feedback Control for Robust Walking of Biped Dynamic Walker

Cited by 3 publications

References 17 publications

Model analysis and control of biped dynamic walker with fault steps in a gait cycle

Model analysis and control of biped dynamic walker with fault steps in a gait cycle

Humanoid Walking Control Using LQR and ANFIS

Genetic Algorithm-Based Trajectory Optimization for a Three-Link Biped Robot

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