Open AccessAdaptive robust controls of biped robots
Author(s) -
Li Zhijun,
Ge Shuzhi Sam
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.0066
Subject(s) - control theory (sociology) , parametric statistics , robust control , robot , lyapunov function , adaptive control , computer science , control engineering , torque , control system , control (management) , engineering , mathematics , artificial intelligence , nonlinear system , electrical engineering , statistics , physics , quantum mechanics , thermodynamics
This paper presents a structure of robust adaptive control for biped robots, which includes balancing and posture control for regulating the centre‐of‐mass (COM) position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of COM and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilise the posture with unknown dynamics of COM and then transforms these forces into full‐body joint torques even if the external disturbances exist. Based on Lyapunov synthesis, the proposed adaptive controls guarantee that the tracking errors of system converge to zero. The proposed controls are robust not only to system uncertainties such as mass variation but also to external disturbances. The verification of the proposed control is conducted using the extensive simulations.