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   Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length  
نویسنده Parsa M. ,Farrokhi M.
منبع international journal of robotics - 2011 - دوره : 2 - شماره : 1 - صفحه:45 -54
فایل تمام متن
چکیده    This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robot s. The NDO is used to reject the additi ve disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow -varying forces acting on the biped robots . In contrary to the slow-varying disturbances, handling sudden pushing disturbances acting on the biped robots is much more complicated and using the NDO doesn 't guarantee the biped walking stability. In order to rej ect these kinds of disturbances, the motion controller must be able to make suitable dec isions for quick changing of the gait length or the walking speed . However, the gait length chan ge is not possible while tracking fixed predefined joint trajectories. Hence, in this paper the NMPC is designed in such a way that it has the abili ty to change the gait length appropriately. In addition, some schemes will be proposed to reduc e the computation time of the NMPC. Simulating results show good performance of the propo sed method ' in trajectory-fre e walking of biped robots as well as disturbance rejection.
کلیدواژه Biped Robots ,Model Predictive ,Control ,Disturbance Observer ,Gait Length
آدرس iran university of science and technology , iran university of science and technology
پست الکترونیکی farrokhi@iust.ac .ir.

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