Design and Real-Time Control of a 4-DOF Biped Robot

Vázquez, José A.; Velasco-Villa, M.

doi:10.5772/56738

Cited by 4 publications

(6 citation statements)

References 24 publications

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“…The mathematical model, which describes the movement dynamics of the bipedal robot, is obtained using the Euler-Lagrange equations [1,13] (Figure 2). To illustrate the theoretical results obtained, we propose an example, which, as can be seen in the simulations, trajectory tracking is guaranteed.…”

Section: Simulationmentioning

confidence: 99%

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Trajectory Tracking Using Adaptive Fractional PID Control of Biped Robots with Time-Delay Feedback

Padron¹,

Perez²,

Méndez-Barrios³

et al. 2020

Becoming Human With Humanoid - From Physical Interaction to Social Intelligence

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This paper presents the application of fractional order time-delay adaptive neural networks to the trajectory tracking for chaos synchronization between Fractional Order delayed plant, reference and fractional order time-delay adaptive neural networks. For this purpose, we obtained two control laws and laws of adaptive weights online, obtained using the fractional order Lyapunov-Krasovskii stability analysis methodology. The main methodologies, on which the approach is based, are fractional order PID the fractional order Lyapunov-Krasovskii functions methodology, although the results we obtain are applied to a wide class of non-linear systems, we will apply it in this chapter to a bipedal robot. The structure of the biped robot is designed with two degrees of freedom per leg, corresponding to the knee and hip joints. Since torso and ankle are not considered, it is obtained a 4-DOF system, and each leg, we try to force this biped robot to track a reference signal given by undamped Duffing equation. To verify the analytical results, an example of dynamical network is simulated, and two theorems are proposed to ensure the tracking of the nonlinear system. The tracking error is globally asymptotically stabilized by two control laws derived based on a Lyapunov-Krasovskii functional.

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Section: Simulationmentioning

confidence: 99%

“…Finally simulations are presented, which illustrate the theoretical results previously demonstrated. The proposed new control scheme is applied via simulations to control of a 4-DOF Biped Robot [1].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Using Adaptive Fractional PID Control of Biped Robots with Time-Delay Feedback

Padron¹,

Perez²,

Méndez-Barrios³

et al. 2020

Becoming Human With Humanoid - From Physical Interaction to Social Intelligence

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“…Starting from the basic 3R platform may be studied by addition any other scheme, n-R modern (Vaźquez, 2013). The platform (system), has three degree of mobility, which can be realized by three actuators (electric motors).…”

Section: Robotsmentioning

confidence: 99%

About the Anthropomorphic Robots

Petrescu

2014

Engevista

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If we study (analyze) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), we already have a base system, on which we can then add other movements (secondary, additional). Calculations were arranged and in the matrix form. The most commonly used serial structures over the last 20 or 30 years are those of type 3R, 4R, 5R, 6R, having as constituents essential basic kinematic chain 3R, robot anthropomorphic (RRR), where main rotation around a vertical axis, causes the construction. It can thus passes from the study spatial movement, which is more difficult, to the study motion plane, basic movement, for all the robots and fillers serial movements of rotation. Moving flat, horizontal or vertical, shall be undertaken far more easily than the spatial integration with the convenience simple in the space of which it is part. We will exemplify the basic structure existing in a few serial platforms of rotation, these being the most generalized (more widespread) at the present time. In this work will be pursued and the direct and inverse kinematics of these mechanical systems. It can make the transition from 3R systems-level 2R and vice versa.

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“…1 Two-legged robots usually retain dynamic stability and have a relatively large number of degrees of freedom. [5][6][7] They have good capabilities to avoid and overcome obstacles, but they need a complex control system and a lot of energy to power the motors. They have lower reliability due to the large number of mechanical and electronic components.…”

Section: Introductionmentioning

confidence: 99%

Analysis and experiments with a 3D printed walking robot to improve climbing obstacle

Chavdarov

Krastev

Naydenov

et al. 2020

International Journal of Advanced Robotic Systems

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The purpose of this work is to investigate the possibilities of climbing higher obstacles while maintaining the overall dimensions of a walking robot through design improvements and experiments. An original concept for the design of a walking robot with a minimum number of motors is presented. Geometric and force constraints for overcoming an obstacle and the conditions for maintaining static stability are determined. Experiments for overcoming a vertical obstacle are conducted with a 3D printed model. The 3D printed robot feet with different shapes and materials are used. The results of the experiments are presented graphically as a percentage of success against a baseline model. In this study, a dimensionless index to compare the height of the overcome obstacle and the dimensions of the robot is introduced. It allows to objectively compare the possibilities of overcoming obstacles between various types of mobile robots. Conclusions and guidelines for design improvements are made.

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Design and Real-Time Control of a 4-DOF Biped Robot

Cited by 4 publications

References 24 publications

Trajectory Tracking Using Adaptive Fractional PID Control of Biped Robots with Time-Delay Feedback

Trajectory Tracking Using Adaptive Fractional PID Control of Biped Robots with Time-Delay Feedback

About the Anthropomorphic Robots

Analysis and experiments with a 3D printed walking robot to improve climbing obstacle

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