Trajectory Tracking Control of the Compass-Type Bipedal Robot Gait via an Improved PD+ Controller

Added, Essia; Gritli, Hassène; Belghith, Safya

doi:10.1109/ic_aset53395.2022.9765906

Cited by 4 publications

(3 citation statements)

References 22 publications

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“…The length of the robot's walking path is set to 100m, and external force disturbance is added during the 9th second of walking. The comparison method between literature [3] and literature [4] is used for verification, and the trend of stability index change is shown in Figure 3. From Figure 3, it can be seen that in the comparative experiment, the methods of reference [3] and reference [4] exhibit significant fluctuations in the stability index when disturbed.…”

Section: Simulation Experiments Verificationmentioning

confidence: 99%

“…The comparison method between literature [3] and literature [4] is used for verification, and the trend of stability index change is shown in Figure 3. From Figure 3, it can be seen that in the comparative experiment, the methods of reference [3] and reference [4] exhibit significant fluctuations in the stability index when disturbed. In contrast, when the method proposed in this paper is disturbed during the walking process of a bipedal robot, the stability index of gait control fluctuates less.…”

Section: Simulation Experiments Verificationmentioning

confidence: 99%

“…The gait stability control of intelligent detection robots for power fittings is a research field of concern both domestically and internationally. Reference [3] proposes an improved PD+control law based on PD controller and gravity compensation. Finally, through some simulations, it was proven that bipedal walking is controllable, thus suppressing chaos.…”

Section: Introductionmentioning

confidence: 99%

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Gait stability control technology for intelligent detection robot of electric power hardware

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Cheng

et al. 2024

International Conference on Computer Graphics, Artificial Intelligence, and Data Processing (ICCAID 2023)

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With the widespread application of intelligent detection robots for power fittings, the stability control of their motion and gait has become a key issue of concern. This paper conducts research on this issue and proposes an effective control technique. Firstly, the motion characteristics of the intelligent detection robot for power fittings were analyzed, including mechanical structure, dynamic characteristics, and other aspects. Then, based on the wavelet neural network algorithm, a stability controller was designed to achieve smooth and stable motion of the robot. Finally, the effectiveness and feasibility of the proposed control technology were verified through experiments. The experimental results indicate that this control technology can improve the gait stability of the intelligent detection robot for power fittings, and enhance its work efficiency and safety.

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