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CLC number: TP242.1

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Received: 2008-04-01

Revision Accepted: 2008-06-10

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Journal of Zhejiang University SCIENCE A 2008 Vol.9 No.11 P.1531~1538

10.1631/jzus.A0820242


Disturbance rejection control based on acceleration projection method for walking robots


Author(s):  Xu-yang WANG, Zhao-hong XU, Tian-sheng LÜ,

Affiliation(s):  School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Corresponding email(s):   wangxuyang@sjtu.edu.cn

Key Words:  Inverse dynamics, Disturbance rejection, ZMP (zero moment point)-plane, Orthogonal projection, Walking robot


Xu-yang WANG, Zhao-hong XU, Tian-sheng LÜ. Disturbance rejection control based on acceleration projection method for walking robots[J]. Journal of Zhejiang University Science A, 2008, 9(11): 1531~1538.

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author="Xu-yang WANG, Zhao-hong XU, Tian-sheng LÜ",
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PB - Zhejiang University Press & Springer
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Abstract: 
This paper presents a disturbance rejection scheme for walking robots under unknown external forces and moments. The disturbance rejection strategy, which combines the inverse dynamics control with the acceleration projection onto the ZMP (zero moment point)-plane, can ensure the overall dynamic stability of the robot during tracking the pre-computed trajectories. Under normal conditions, i.e., the system is dynamically balanced, a primary inverse dynamics control is utilized. In the case that the system becomes unbalanced due to external disturbances, the acceleration projection control (APC) loop, will be activated to keep the dynamic stability of the walking robot through modifying the input torques. The preliminary experimental results on a robot leg demonstrate that the proposed method can actually make the robot keep a stable motion under unknown external perturbations.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

Reference

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[3] Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H., 2003a. Biped Walking Pattern Generation by Using Preview Control of Zero-Moment Point. IEEE International Conference on Robotics and Automation, Taipei, Taiwan, p.1620-1626.

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[7] Mitobe, K., Gapi, G., Nasu, Y., 2004. A new control method for walking robots based on angular momentum. Mechatronics, 14:163-174.

[8] Pannu, S., Becker, G., Kazerooni, H., 1995. Stability of a One Legged Robot Using μ-Synthesis. Proceedings of IEEE International Conference on Robotics and Automation, N-agoya, Japan, p.685-690.

[9] Raibert, M. H., 1984. Hopping in legged systems—modeling and simulation for the two-dimensional one-legged case. IEEE Transactions on Systems, Man and Cybernetics, 14(3):451-463.

[10] Sugihar, T., Nakamur, Y., Inoue, H., 2002. Realtime Humanoid Motion Generation through ZMP Manipulation Based on Inverted Pendulum Control. IEEE International Conference on Robotics and Automation Washington, DC, p.1404-1409.

[11] Takanishi, A., Takeya, T., Karaki, H., Kato, I., 1990. A Control Method for Dynamic Biped Walking under Unknown External Force. Proceedings of IEEE International Workshop on Intelligent Robots and Systems, Ibaraki, Japan, p.795-801.

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