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New robust control method applied to the locomotion of a 5-link biped robot
, Article Robotica ; 2019 ; 02635747 (ISSN) ; Salarieh, H ; Sharif University of Technology
Cambridge University Press
2019
Abstract
This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. © 2020...
New robust control method applied to the locomotion of a 5-link biped robot
, Article Robotica ; 2019 ; 02635747 (ISSN) ; Salarieh, H ; Sharif University of Technology
Cambridge University Press
2019
Abstract
This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. © 2020...
New robust control method applied to the locomotion of a 5-link biped robot
, Article Robotica ; Volume 38, Issue 11 , January , 2020 , Pages 2023-2038 ; Salarieh, H ; Sharif University of Technology
Cambridge University Press
2020
Abstract
This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. Copyright ©...
Designing a Distributed Controller for an Under-Actuated Running Robot with Learning Ability
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
Abstract
Walking-robots have received much attention because of the variety of motion maneuvers they can produce and the many applications they have in various areas including rehabilitation. One of these maneuvers is running. In this study, a time-invariant controller is designed to dynamically stabilize a five-link and a seven-link running-robots in two dimensions. In the simulation of the seven-link model, an attempt has been made to measure the impact of the circular foot on the stepping pattern. Also, it is tried to present a dynamically simple model similar to the geometry of the human body. Simulations are performed in MATLAB software. The running is modeled with three phases of stance, flight...
Stabilization of periodic orbits for planar walking with noninstantaneous double-support phase
, Article IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans ; Volume 42, Issue 3 , 2012 , Pages 685-706 ; 10834427 (ISSN) ; Sadati, N ; Gruver, W. A ; Dumont, G. A ; Sharif University of Technology
Abstract
This paper presents an analytical approach to design a continuous time-invariant two-level control scheme for asymptotic stabilization of a desired period-one trajectory for a hybrid model describing walking by a planar biped robot with noninstantaneous double-support phase and point feet. It is assumed that the hybrid model consists of both single- and double-support phases. The design method is based on the concept of hybrid zero dynamics. At the first level, parameterized continuous within-stride controllers, including single- and double-support-phase controllers, are employed. These controllers create a family of 2-D finite-time attractive and invariant submanifolds on which the dynamics...
Exponential stabilisation of periodic orbits for running of a three-dimensional monopedal robot
, Article IET Control Theory and Applications ; Volume 5, Issue 11 , August , 2011 , Pages 1304-1320 ; 17518644 (ISSN) ; Sadati, N ; Gruver, W. A ; Dumont, G A ; Sharif University of Technology
2011
Abstract
This study presents a motion planning algorithm to generate a feasible periodic solution for a hybrid system describing running by a three-dimensional (3-D), three-link, three-actuator, monopedal robot. In order to obtain a symmetric running gait along a straight line, the hybrid system consists of two stance phases and two flight phases. The motion planning algorithm is developed on the basis of a finite-dimensional optimisation problem with equality and inequality constraints. By extending the concept of hybrid zero dynamics to running, the authors propose a time-invariant control scheme that is employed at two levels to locally exponentially stabilise the generated periodic solution for...
Radial basis function network for exponential stabilisation of periodic orbits for planar bipedal walking
, Article Electronics Letters ; Volume 47, Issue 12 , 2011 , Pages 692-694 ; 00135194 (ISSN) ; Hamed, K.A ; Gruver, W. A ; Dumont, G. A ; Sharif University of Technology
2011
Abstract
Presented is a novel and analytical approach to design a hybrid controller based on hybrid zero dynamics for exponential stabilisation of a desired periodic orbit for a hybrid model of walking composed of single and double support phases. To achieve this goal, the effect of a double support phase on angular momentum transfer and stabilisation is investigated. Also, the class of control inputs corresponding to an orbit during double support is presented. A smooth feedback law based on a radial basis function network is then proposed for the double support phase such that (i) the desired orbit is exponentially stable and (ii) the control vector minimises the least square control cost