Hydraulic Robotic Leg for HYDROïD Robot: Modeling and Control

Ibrahim, Ahmed Abdellatif Hamed; Ammounah, Anas; Alfayad, Samer; Tliba, Sami; Ouezdou, Fethi Ben; Delaplace, S.

doi:10.20965/jrm.2022.p0576

Cited by 3 publications

(1 citation statement)

References 36 publications

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“…HYDROïD, shown in Figure 1 is a hydraulically actuated full-size humanoid robot with 51 degrees of freedom designed to operate in dangerous environments, assist the elderly, and support human needs in industry [1]. Therefore, developing a safe interaction capability for its joints is necessary.…”

Section: Introductionmentioning

confidence: 99%

Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid

Ghandour,

Jleilaty,

Ait Oufroukh

et al. 2024

Mathematics

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Electro-hydraulic actuators have witnessed significant development over recent years due to their remarkable abilities to perform complex and dynamic movements. Integrating such an actuator in humanoids is highly beneficial, leading to a humanoid capable of performing complex tasks requiring high force. This highlights the importance of safety, especially since high power output and safe interaction seem to be contradictory; the greater the robot’s ability to generate high dynamic movements, the more difficult it is to achieve safety, as this requires managing a large amount of motor energy before, during, and after the collision. No matter what technology or algorithm is used to achieve safety, none can be implemented without a stable control system. Hence, one of the main parameters remains the quality and reliability of the robot’s control architecture through handling a huge amount of data without system failure. This paper addresses the development of a stable control architecture that ensures, in later stages, that the safety algorithm is implemented correctly. The optimum control architecture to utilize and ensure the maximum benefit of electro-hydraulic actuators in humanoid robots is one of the important subjects in this field. For a stable and safe functioning of the humanoid, the development of the control architecture and the communication between the different components should adhere to some requirements such as stability, robustness, speed, and reduced complexity, ensuring the easy addition of numerous components. This paper presents the developed control architecture for an underdeveloped electro-hydraulic actuated humanoid. The proposed solution has the advantage of being a distributed, real-time, open-source, modular, and adaptable control architecture, enabling simple integration of numerous sensors and actuators to emulate human actions and safely interact with them. The contribution of this paper is an enhancement of the updated rate compared to other humanoids by 20% and by 40 % in the latency of the master. The results demonstrate the potential of using EtherCAT fieldbus and open-source software to develop a stable robot control architecture capable of integrating safety and security algorithms in later stages.

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Section: Introductionmentioning

confidence: 99%

Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid

Ghandour,

Jleilaty,

Ait Oufroukh

et al. 2024

Mathematics

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Application of BP Algorithm in Cost Estimation of Water Conservancy Project

Liu

2022

2022 IEEE 2nd International Conference on Mobile Networks and Wireless Communications (ICMNWC)

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Robust PI Control for Lower Limb Exoskeleton Robot Based on the Moth Flame Optimization Algorithm

Yu,

Zhang,

Ding

2024

JRM

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The purpose of this paper is to apply an intelligent algorithm to conduct the torque tracking control for lower limb exoskeleton robot driven by an electro-hydraulic servo system (EHSS). The dynamics of EHSS actuating the robot are mathematically modeled with two degrees of freedom joints, and the torque control strategy is made to realize the minimization of human-machine forces. The PI controller is selected to implement this strategy, and the selection of PI gains is important for system control. Therefore, the ameliorative moth flame optimization (AMFO) algorithm is chosen to optimize the PI gains. The main idea of moth flame optimization is to mimic the evolution of a moth’s lateral positioning mechanism over time. The AMFO algorithm is capable of achieving enhanced better global and local search capabilities by adding the inertia weights to the position update formula. Moreover, the particle swarm optimization (PSO) and whale optimization algorithm (WOA) are selected to obtain comparative results. The results indicate that, when compared to the WOA-PI and PSO-PI controllers, the AMFO-PI controller gains the least amount in terms of rise time, overshoot, steady error, mean absolute error, and root mean square error.

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Hydraulic Robotic Leg for HYDROïD Robot: Modeling and Control

Cited by 3 publications

References 36 publications

Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid

Real-Time EtherCAT-Based Control Architecture for Electro-Hydraulic Humanoid

Application of BP Algorithm in Cost Estimation of Water Conservancy Project

Robust PI Control for Lower Limb Exoskeleton Robot Based on the Moth Flame Optimization Algorithm

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