DMP-Based Motion Generation for a Walking Exoskeleton Robot Using Divergent Component of Motion

Xu, Dianjun; Huang, Pengbo; Li, Zhijun; Feng, Ying

doi:10.1109/icarm54641.2022.9959591

Cited by 1 publication

(1 citation statement)

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“…The strategy described in this paper is founded on an implementation and adaptation of a DCM-based control architecture. The DCM concept has been applied to various types of robots, including bipeds [9][10][11][12][13][14], quadrupeds [15,16], and exoskeletons [17,18], and has been shown to be effective in achieving stable and dynamic locomotion. It has also been used in applications such as prosthetics and rehabilitation robotics, where maintaining balance and stability are critical for safe and effective movement.…”

Section: Introductionmentioning

confidence: 99%

Enhancement of humanoid robot locomotion on slippery floors using an adaptive controller

Almeida,

Santos,

Ferreira

2024

Robotica

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This paper presents a comprehensive strategy to improve the locomotion performance of humanoid robots on various slippery floors. The strategy involves the implementation and adaptation of a divergent component of motion (DCM) based control architecture for the humanoid NAO, and the introduction of an embedded yaw controller (EYC), which is based on a proportional-integral-derivative (PID) control algorithm. The EYC is designed not only to address the slip behavior of the robot on low-friction floors but also to tackle the issue of non-straight walking patterns that we observed in this humanoid, even on non-slippery floors. To fine-tune the PID gains for the EYC, a systematic trial-and-error approach is employed. We iteratively adjusted the P (Proportional), I (Integral), and D (Derivative) parameters while keeping the others fixed. This process allowed us to optimize the PID controller’s response to different walking conditions and floor types. A series of locomotion experiments are conducted in a simulated environment, where the humanoid step frequency and PID gains are varied for each type of floor. The effectiveness of the strategy is evaluated using metrics such as robot stability, energy consumption, and task duration. The results of the study demonstrate that the proposed approach significantly improves humanoid locomotion on different slippery floors, by enhancing stability and reducing energy consumption. The study has practical implications for designing more versatile and effective solutions for humanoid locomotion on challenging surfaces and highlights the adaptability of the existing controller for different humanoid robots.

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