Trotting control of a quadruped robot using PID-ILC

Sutyasadi, Petrus; Parnichun, Manukid

doi:10.1109/iecon.2015.7392784

Cited by 10 publications

(7 citation statements)

References 8 publications

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“…There are many researches of robots installed CPG [7][8][9] without considering suppression of roll direction vibration. On the other hand, we found a research about suppression of quadruped robot body vibration [10]. However, the research did not consider of vibration during turning.…”

Section: Introductionmentioning

confidence: 89%

Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification of Central Pattern Generator Output Waveform

Kitani

Asami

Sato

et al. 2019

JRNAL

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Quadruped robots experience excessive vibrations in the roll direction when turning by controlling their hip yaw joint. In the case of image-based teleoperation of the robot, the operator cannot aware the situation of the robot, due to excessive vibrations of the viewpoint of the image from the camera mounted on the robot. Especially, it is known that vibration in the roll direction is most likely to cause motion sickness. To overcome this problem, we proposed the asymmetric amplification of the output waveforms of central pattern generators. We implemented the proposed method on a robot in a dynamic simulator and verified the effectiveness of the proposed method, during the turning operation. As a result, we confirmed that the proposal method can suppress 43.7% vibration of the robot body in the roll direction and 7.4% vibration in the pitch direction compared with the conventional method.

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Section: Introductionmentioning

confidence: 89%

Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification of Central Pattern Generator Output Waveform

Kitani

Asami

Sato

et al. 2019

JRNAL

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“…It is ideal for controlling objects which move in a finite period. The tracking error is modified according to the learning signal to enhance a particular control goal and track the intended trajectory [42], [43]. In brief, because the PID has strong robustness and the ILC has good performance, it is assumed that their combination will have both [44].…”

Section: Hybrid Pid and Ilcmentioning

confidence: 99%

Control of robot-assisted gait trainer using hybrid proportional integral derivative and iterative learning control

Parikesit

Maneetham

Sutyasadi

2022

IJECE

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<p><span lang="EN-US">An inexpensive exoskeleton of the lower limb was designed and developed in this study. It can be used as a gait trainer for persons with lower limb problems. It plays an essential role in lower limb rehabilitation and aid for patients, and it can help them improve their physical condition. This paper proposes a hybrid controller for regulating the lower limb exoskeleton of a robot-assisted gait trainer that uses a proportional integral and derivative (PID) controller combined with an iterative learning controller (ILC). The direct current motors at the hip and knee joints are controlled by a microcontroller that uses a preset pattern for the trajectories. It can learn how to monitor a trajectory. If the trajectory or load is changed, it will be able to follow the change. The experiment showed that the PID controller had the smallest overshoot, and settling time, and was responsible for system stability. Even if there are occasional interruptions, the tracking performance improves with the ILC.</span></p>

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“…This is done by the mixed sensitivy ∞ robust controller. ILC adjusts the manipulated control to follow the trajectory command [25]. The equation of the ILC is determined from.…”

Section: Iterative Learning Controlmentioning

confidence: 99%

Robotic arm joint position control using iterative learning and mixed sensitivity H∞ robust controller

Sutyasadi

Wicaksono

2021

Bulletin EEI

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This paper proposes an improved control strategy of a robotic arm joint using hybrid controller consist of H∞ robust controller and iterative learning controller. The main advantage of this controller is the simple structure that made it possible to be implemented on a small embedded system for frugal innovation in industrial robotic arm development. Although it has a simple structure, it is a robust H∞ controller that has robust stability and robust performance. The iterative learning controller makes the trajectory tracking even better. To test the effectiveness of the proposed method, computer simulations using Matlab and hardware experiments were conducted. Variation of load was applied to both of the processes to present the uncertainties. The superiority of the proposed controller over the proportional integral derivative (PID) controller that usually being used in a low-cost robotic arm development is confirmed that it has better trajectory tracking. The error tracking along the slope of sinusoidal trajectory input was suppressed to zero. The biggest error along the trajectory that happened on every peak of the sinusoidal input, or when the direction is changed has been improved from 15 degrees to 4 degrees. This can be conceived that the proposed controller can be applied to control a low-cost robotic arm joint position which is applicable for small industries or educational purpose.

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Trotting control of a quadruped robot using PID-ILC

Cited by 10 publications

References 8 publications

Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification of Central Pattern Generator Output Waveform

Suppression of Roll Oscillation in Turning of Quadruped Robot by Asymmetric Amplification of Central Pattern Generator Output Waveform

Control of robot-assisted gait trainer using hybrid proportional integral derivative and iterative learning control

Robotic arm joint position control using iterative learning and mixed sensitivity H∞ robust controller

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