Features of solving the inverse dynamic method equations for the synthesis of stable walking robots controlled motion

Abstract

The problem of walking robots controlled motion synthesis by the inverse dynamic method is considered. The inverse dynamic method equations are represented by the methods of multibody system dynamics as free bodies motion equations and constraint equations. The variety of constraint equations group are introduced to specify the robot gait, to implement the robot stability conditions and to coordinate specified robot links movement. The key feature of the inverse dynamic method equations in this formulation is the presence of the second derivatives of the system coordinates in the constraint equations expressing the stability conditions that ensure the maintenance of the vertical position by the robot. The determined solution of such equations in general case is impossible due to the uncertainty of the initial conditions for the Lagrange multipliers. An approximate method for solving the inverse dynamic without taking into account the inertial components in the constraint equations that determine the stability of the robot is considered. Constraint equations that determine the coordinate movement of individual robot links and required for unique problem solving based on approximate equations are presented. The implementation of program motion synthesis methods in the control system of the humanoid robot AR-600 is presented. The comparison of theoretical and experimental parameters of controlled motion is performed. It has been established that with the achieved high accuracy of the robot links tracking drives control with an error of several percent, the indicators of the robot's absolute movements, in particular, the angles of roll, yaw and pitch, differ from the programmed by 30-40%. It’s shown that proposed method allows to synthesize robot control in quasistatic mode for different movement types such as moving forward, sideways, walking on stairs, inclinations etc.

Algorithm for Controlling Manipulator with Combined Array of Pressure and Proximity Sensors in Gripper

“…It was experimentally confirmed that successful gripping without deformations, displacements and slipping with optimal values of accuracy parameters was achieved in 97% of cases. The proposed solution with some adjustments in the implementation of the algorithm structure is applicable for the implementation of the gait of walking and anthropomorphic robots, as well as to determine the control operations of pedipulators [26].…”

Optimal Greedy Control in Reinforcement Learning

“…Consider the flat inverted double pendulum shown in Figure 1. These pendulums are often considered in problems of control synthesis of walking robots [21][22][23][24][25][26][27][28][29][30][31][32]. The limit on the magnitude of the torque in the pendulum support is a condition for the stability of the robot (i.e., avoiding overturning).…”

Signal processing of capacitive force sensors installed in the foot of an anthropomorphic robot

“…Based on the analysis performed, as well as the data presented in the works [16][17][18], the time for obtaining data from the sensors and calculating the center of applied pressure area to the foot should be in the range of up to 10 ms for the robot's control system to respond sufficiently and to create a stable gait.…”