Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller

Mayub, Afrizal; Fahmizal, Fahmizal

doi:10.11591/ijece.v8i5.pp3678-3696

Cited by 9 publications

(9 citation statements)

References 17 publications

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“…Furthermore, FLC was shown to provide improved performance of the robot force control system over that of PI force control, in terms of reduced interactive force, shorter transfer time and lower work done. This also supports the conclusion that using FLC has a significant advantage when controlling non-linear systems [27], and is more insensitive than PI control to variations in small external force disturbances, which is an important requirement in robot force/position control schemes [28].…”

Section: Comparison Hri To Hhi Object Handover Taskssupporting

confidence: 81%

Implicit force control approach for Safe physical Robot-to-Human object handover

Neranon

2020

IJEECS

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This research focuses on the development of the conceptual frameworks of human-human interaction applied for a robotic behaviour-based approach for safe physical human-robot interaction. The control has been constructed based on understanding the dynamic and kinematic behavioural characteristics of how two humans pass an object to each other. This has enabled a KR-16-KUKA robot to naturally interact with a human so as to facilitate the dexterous transfer of an object in an effective manner. Implicit force control based on Proportional Integral and Fuzzy Logic Control which allows the robot end effector's trajectory to be moderated based on the applied force in real-time was adopted. The experimental results have confirmed that the quantitative performance of the force-controlled robot is close to that of the human and can be considered acceptable for human-robot interaction. Furthermore, the control based Fuzzy Logic Control was shown to be slightly superior performance compared to Proportional Integral control.

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Section: Comparison Hri To Hhi Object Handover Taskssupporting

confidence: 81%

Implicit force control approach for Safe physical Robot-to-Human object handover

Neranon

2020

IJEECS

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“…From this equation, it can be said that objects do not move in the translation direction or the direction of rotation (rest). See the following illustration; Support Leg [18].…”

Section: B Equilibriummentioning

confidence: 99%

Learning Effectiveness of Equilibrium Concept of Objects Through the Walking Stability Bipedal Robots

Mayub¹,

Fahmizal²

2021

Advances in Social Science, Education and Humanities Research

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technique. The researchers determined a sample of 40 students of Master of Science in semester 1 and 3 of the 2020/2021 academic year. The results showed that the Physics Learning Program Based on the Push Center Feedback Simulation Stability Controller of the Bipedal Robot was used effectively. It can be seen from the NGain value of 0.82, which is in the high or very effective category. Based on the questionnaire for the Physics Learning Program Based on the Simulation of Press Center Stability Controller of the Bipedal Robot is effective for equilibrium material and the center of mass, it can be seen from the score obtained of 4.14 (from a scale of 1-5) is in the effective category.

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“…Di samping itu, minat penelitian ke arah robot dengan kemampuan merayap (climbing) (Zhang, 2006), berjalan tegak (walking) (Kuo, 2016), dan kesetimbangan (balancing) (Mayub, 2018) juga mendapat perhatian lebih. Pembahasan khusus dalam hal dinamik robot juga sangat menjanjikan dari segi kontribusi keilmuan.…”

Section: Pendahuluanunclassified

Robot Inverted Pendulum Beroda Dua (IPBD) dengan Kendali Linear Quadratic Regulator (LQR)

et al. 2019

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ABSTRAKMakalah ini memaparkan proses pemodelan robot inverted pendulum beroda dua (IPBD) menggunakan dinamika Lagrange. Setelah sistem model robot IPBD diperoleh, teknik kendali optimal dalam hal ini menggunakan linear quadratic regulator (LQR) digunakan untuk melihat step respon sistem dan tanggapan respon sistem terhadap gangguan. Sebelum kendali LQR diimplementasikan, simulasi menggunakan Simulink Matlab dilakukan untuk mendapat parameter gain K pada kendali LQR. Selanjutnya, dengan mengubah-ubah matriks pembobot Q akan diperoleh variasi gain K. Pada penelitian ini dilakukan variasi matriks pembobotan Q sebanyak lima jenis. Sedangkan matriks elemen R dituning dengan nilai satu. Dari hasil pengujian diperoleh bahwa dengan membesarkan pembobotan matriks Q, dihasilkan respon menuju keadaan steady lebih cepat dan overshoot berkurang. Parameter gain K dari hasil simulasi selanjutnya akan diimplementasikan secara embedded programming ke dalam Arduino Uno pada sistem robot IPBD.Kata kunci: Inverted pendulum beroda, Pemodelan, LQR ABSTRACTThis paper describes the process of modeling two-wheeled pendulum inverted robots (IPBD) using the Lagrange dynamics. After the IPBD robot model system was obtained, the optimal control technique in this case using a linear quadratic regulator (LQR) was used to see the system response step and the response of the system response to interference. Before the LQR control is implemented, simulation using Matlab Simulink is conducted to get the gain K parameter on the LQR control. Furthermore, by varying the weighting matrix Q, the gain variation K will be obtained. There are five types of Q weighting matrix in this research and the R element matric is tuned with a value of 1. From the test, obtained results show that by raising the weighting matrix Q is produced a faster response to the steady state and overshoot is reduced. At the final stage, the gain K parameter from the simulation results will be implemented by embedded programming into Arduino Uno on the IPBD robot system.Keywords: Wheeled inverted pendulum, Modelling, LQR

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Center of Pressure Feedback for Controlling the Walking Stability Bipedal Robots using Fuzzy Logic Controller

Cited by 9 publications

References 17 publications

Implicit force control approach for Safe physical Robot-to-Human object handover

Implicit force control approach for Safe physical Robot-to-Human object handover

Learning Effectiveness of Equilibrium Concept of Objects Through the Walking Stability Bipedal Robots

Robot Inverted Pendulum Beroda Dua (IPBD) dengan Kendali Linear Quadratic Regulator (LQR)

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