Hostname: page-component-78c5997874-g7gxr Total loading time: 0 Render date: 2024-11-13T09:27:24.418Z Has data issue: false hasContentIssue false
  • English
  • Français

New Robust Control Method Applied to the Locomotion of a 5-Link Biped Robot

Published online by Cambridge University Press:  15 January 2020

Mohammad Mehdi Kakaei  and
Hassan Salarieh Open the ORCID record for Hassan Salarieh [Opens in a new window]
Mohammad Mehdi Kakaei
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran E-mail: [email protected]
Hassan Salarieh*
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance.

Keywords

Robust controlStabilityHybrid natureUnderactuatedBiped robotLocomotion
Type
Articles
Information
Robotica , Volume 38 , Issue 11 , November 2020 , pp. 2023 - 2038
Copyright
Copyright © Cambridge University Press 2020

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Wieber, P.-B., Tedrake, R. and Kuindersma, S., “Modeling and Control of Legged Robots,” In: Springer Handbook of Robotics, (Springer International Publishing, Cham, 2016) pp. 1203–1234.CrossRefGoogle Scholar
Westervelt, E. R., Grizzle, J. W., Chevallereau, C., Choi, J. H. and Morris, B., “Feedback Control of Dynamic Bipedal Robot Locomotion,” vol. 28. (CRC Press, Taylor and Francis Group, New York, 2007).Google Scholar
Chevallereau, C. and Aoustin, Y., “Optimal reference trajectories for walking and running of a biped robot,” Robotica. 19, 557–569 (2001).CrossRefGoogle Scholar
Chevallereau, C., Aoustin, Y. and Formal’sky, A., “Optimal Walking Trajectories for a Biped,” Proceedings of the First Workshop on Robot Motion and Control, RoMoCo 1999 (1999) pp. 171–176.Google Scholar
Grizzle, J. W., Abba, G. and Plestan, F., “Asymptotically stable walking for biped robots: Analysis via systems with impulse effects,” IEEE Trans. Autom. Cont. 46, 51–64 (2001).CrossRefGoogle Scholar
Grizzle, J. W., Plestan, F. and Abba, G., “Poincare’s Method for Systems with Impulse Effects: Application to Mechanical Biped Locomotion,” Proceedings of the 38th IEEE Conference on Decision and Control (1999) pp. 3869–3876.Google Scholar
Plestan, F., Grizzle, J. W., Westervelt, E. R. and Abba, G., “Stable walking of a 7-DOF biped robot,” IEEE Trans. Robot. Autom. 19, 653–668 (2003).CrossRefGoogle Scholar
Tzafestas, S., Raibert, M. and Tzafestas, C., “Robust sliding-mode control applied to a 5-link biped robot,” J. Intell. Robot. Syst. 15, 67–133 (1996).Google Scholar
Lee, S. H., Park, J. B. and Choi, Y. H., “Sliding Mode Control Based on Self-Recurrent Wavelet Neural Network for Five-Link Biped Robot,” International Joint Conference on SICE-ICASE 2006 (2006) pp. 726–731.Google Scholar
Moosavian, S. A. A., Takhmar, A. and Alghooneh, M., “Regulated Sliding Mode Control of a Biped Robot,” International Conference on Mechatronics and Automation, ICMA 2007 (2007) pp. 1547–1552.Google Scholar
Nikkhah, M., Ashrafiuon, H. and Fahimi, F., “Robust control of underactuated bipeds using sliding modes,” Robotica. 25, 367–374 (2007).CrossRefGoogle Scholar
Oza, H. B., Orlov, Y. V., Spurgeon, S. K., Aoustin, Y. and Chevallereau, C., “Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot,” 2014 European Control Conference (ECC) (2014), pp. 2600–2605.Google Scholar
Oviedo-Barriga, J., González-Jiménez, L., Castillo-Toledo, B. and Bayro-Corrochano, E., “Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding mode control,” Robotica. 33, 209–224 (2015).CrossRefGoogle Scholar
Aghababa, M. P. and Akbari, M. E., “A chattering-free robust adaptive sliding mode controller for synchronization of two different chaotic systems with unknown uncertainties and external disturbances,” Appl. Math. Comput. 218, 5757–5768 (2012).Google Scholar
Li, H., Liao, X., Li, C. and Li, C., “Chaos control and synchronization via a novel chatter free sliding mode control strategy,” Neurocomputing, 74, 3212–3222 (2011).CrossRefGoogle Scholar
Li, M., Hu, Y., Feng, W., Wang, C. and Wu, X., “Adaptive Sliding Mode Control for Biped Robots with sEMG Signals,” 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS) (2018) pp. 656–661.Google Scholar
Rahmani, M., Ghanbari, A. and Ettefagh, M. M., “A novel adaptive neural network integral sliding-mode control of a biped robot using bat algorithm,” J. Vib. Control. 24, 2045–2060 (2018).Google Scholar
Heydari, R. and Farrokhi, M., “Robust model predictive control of biped robots with adaptive on-line gait generation,” Int. J. Control, Autom. Syst. 15, 329–344 (2017).CrossRefGoogle Scholar
Nguyen, Q. and Sreenath, K., “Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs,” Conference: Robotics: Science and Systems 2015. DOI: https://doi.org/10.15607/RSS.2015.XI.04810.15607/RSS.2015.XI.048.CrossRefGoogle Scholar
Janardhan, V. and Kumar, R. P., “Online trajectory generation for wide ditch crossing of biped robots using control constraints,” Robot. Auton. Syst. 97, 61–82 (2017).CrossRefGoogle Scholar
Chevallereau, C., Bessonnet, G., Abba, G. and Aoustin, Y., Bipedal Robots: Modeling, Design and Walking Synthesis (John Wiley & Sons, Inc., Hoboken, NJ, 2013).Google Scholar
Kakaei, M. M. and Salarieh, H., “A Novel robust control method for three-link underactuated planar biped robot,” Modares Mech. Eng. 17, 47–58 (2017).Google Scholar
Morris, B. and Grizzle, J. W., “A Restricted Poincaré Map for Determining Exponentially Stable Periodic Orbits in Systems with Impulse Effects: Application to Bipedal Robots,” 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC 2005 (2005) pp. 4199–4206.Google Scholar
Morris, B. and Grizzle, J. W., “Hybrid invariant manifolds in systems with impulse effects with application to periodic locomotion in bipedal robots,” IEEE Trans. Autom. Control, 54, 1751–1764 (2009).CrossRefGoogle Scholar
Westervelt, E. R., Grizzle, J. W. and De Wit, C. C., “Switching and PI control of walking motions of planar biped walkers,” IEEE Trans. Autom. Control, 48, 308–312 (2003).CrossRefGoogle Scholar
Wang, T. and Chevallereau, C., “Stability analysis and time-varying walking control for an under-actuated planar biped robot,” Robot. Auton. Syst. 59, 444–456 (2011).Google Scholar
Khalil, H. K., Noninear Systems, vol. 2, p. 5.1, (Prentice-Hall, New Jersey, 1996).Google Scholar
Nikravesh, S. K. Y., Nonlinear Systems Stability Analysis: Lyapunov-Based Approach (CRC Press, 2013).CrossRefGoogle Scholar
Vidyasagar, M., Nonlinear Systems Analysis (SIAM, 2002).CrossRefGoogle Scholar
Isidori, A., Nonlinear Control Systems, An Introduction (Springer-Verlag, Berlin, Heidelberg, 1989).CrossRefGoogle Scholar
Spong, M. W. and Vidyasagar, M., Robot Dynamics and Control (John Wiley & Sons, Wiley India Pvt. Limited, 2008).Google Scholar
Perruquetti, W. and Barbot, J.-P., Sliding Mode Control in Engineering (CRC Press, Taylor and Francis Group, Boca Raton, 2002).CrossRefGoogle Scholar
Gupta, S. and Kumar, A., “A brief review of dynamics and control of underactuated biped,” Adv. Robot. 31(12), 1–17 (2017).CrossRefGoogle Scholar
Sinnet, R. W. and Ames, A. D., “2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach,” Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009 (2009) pp. 3200–3207.Google Scholar
Hairi, Y. M. R., Sabaapour, M. R. and Beigzadeh, B., “Asymptotically Stable Walking Control of a 3D Biped Robot Via Potential Energy Shaping Approach,” Modares Mech. Eng. 15, 261–270 (2015).Google Scholar
Yosofvand, M., Beigzadeh, B. and Davaie, M. A. H., “Analysis of stable period-one gait of a planner passive biped with elasti links,” Modares Mech. Eng. 16, 312–320 (2016).Google Scholar
Raibert, M., Tzafestas, S. and Tzafestas, C., “Comparative Simulation Study of Three Control Techniques Applied to a Biped Robot,” Proceedings of the International Conference on ‘Systems Engineering in the Service of Humans’, Conference Systems, Man and Cybernetics (1993) pp. 494–502.Google Scholar
Taherkhorsandi, M., Mahmoodabadi, M., Talebipour, M. and Castillo-Villar, K., “Pareto design of an adaptive robust hybrid of PID and sliding control for a biped robot via genetic algorithm optimization,” Nonlin. Dynam. 79, 251–263 (2015).CrossRefGoogle Scholar