Feedback regularization based PD controller for a planar three-link biped robot

Weerakoon, W.M.L.T.; Maithripala, D. H. S.; Berg, Jordan M.

doi:10.1109/iciinfs.2017.8300403

Cited by 4 publications

(4 citation statements)

References 18 publications

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“…Output function derivatives are written in Eqs. ( 21)- (23). The control signal that can asymptotically take the system output to zero is written as in Eq.…”

Section: Global Controllermentioning

confidence: 99%

“…Lyapunov-based methods with HZD control also aim to provide periodic stability for walking [19,20] and also running [21]. In addition, HZD is combined with feedback linearization, backstepping, and sliding mode methods, making it robust against system uncertainties and disturbances [22][23][24]. The HZD method can be applied in a wide range from three-link biped robots [23] to humanoid robots [25].…”

Section: Introductionmentioning

confidence: 99%

“…In addition, HZD is combined with feedback linearization, backstepping, and sliding mode methods, making it robust against system uncertainties and disturbances [22][23][24]. The HZD method can be applied in a wide range from three-link biped robots [23] to humanoid robots [25]. Although remarkable results have been revealed for biped gait control in the literature, studies on new control methods are still ongoing.…”

Section: Introductionmentioning

confidence: 99%

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Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot

2021

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Bipedal robots by their nature show both hybrid and underactuated system features which are not stable and controllable at every point of joint space. They are only controllable on certain fixed equilibrium points and some trajectories that are periodically stable between these points. Therefore, it is crucial to determine the trajectory in the control of walking robots. However, trajectory optimization causes a heavy computational load. Conventional methods to reduce the computational load weaken the optimization accuracy. As a solution, a variable time interval trajectory optimization method is proposed. In this study, optimization accuracy can be increased without additional computational time. Moreover, a five-link planar biped walking robot is designed, produced, and the dynamic walking is controlled with the proposed method. Finally, cost of transport (CoT) values are calculated and compared with other methods in the literature to reveal the contribution of the study. According to comparisons, the proposed method increases the optimization accuracy and decreases the CoT value.

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“…Output function derivatives are written in Eqs. ( 21)- (23). The control signal that can asymptotically take the system output to zero is written as in Eq.…”

Section: Global Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot

2021

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“…For the current paper, feedback regularization and geometric PID control take the place of partial-feedback linearization and finite-time control. This approach to exponential tracking for underactuated mechanical systems was introduced in [18], [19] and a feedback regularization based geometric PD control for a class planar of three link was tested in [20]. Geometric PID control as presented in [21], [22], [23] provides a powerful and intuitive robust control design method for fully actuated mechanical systems.…”

Section: Introductionmentioning

confidence: 99%

Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model

Weerakoon

Madhushani

Maithripala

et al. 2018

2018 Annual American Control Conference (ACC)

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This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque available at each hip joint. The geometric PID controller is derived for fully actuated mechanical systems, however in the swing phase the three-link biped robot has three degrees of freedom and only two controls. Following the bipedal walking literature, underactuation is addressed by choosing two "virtual constraints" to enforce, and verifying the stability of the resulting two-dimensional zero dynamics. The resulting controlled dynamics do not have the structure of a mechanical system, however this structure is restored using "feedback regularization," following which geometric PID control is used to provide robust asymptotic regulation of the virtual constraints. The proposed method can tolerate significantly greater variations in inclination, showing the value of the geometric methods, and the benefit of integral action.

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Modelling and Control of Three-link Planar Robot for Stable Walking Gait

Kochuvila

Nandi

2018

2018 International Conference on Electrical, Electronics, Communication, Computer, and Optimization Techniques (ICEECCOT)

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Feedback regularization based PD controller for a planar three-link biped robot

Cited by 4 publications

References 18 publications

Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot

Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot

Feedback Regularization and Geometric PID Control for Robust Stabilization of a Planar Three-link Hybrid Bipedal Walking Model

Modelling and Control of Three-link Planar Robot for Stable Walking Gait

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