Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model
The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control bas...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/8142161 |
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| _version_ | 1832560649435086848 |
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| author | Kaiyang Yin Yaxu Xue Yadong Yu Shuangxi Xie |
| author_facet | Kaiyang Yin Yaxu Xue Yadong Yu Shuangxi Xie |
| author_sort | Kaiyang Yin |
| collection | DOAJ |
| description | The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control. |
| format | Article |
| id | doaj-art-1b1b05d4250c468ba79401137e6c1b32 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-1b1b05d4250c468ba79401137e6c1b322025-02-03T01:26:59ZengWileyJournal of Robotics1687-96001687-96192021-01-01202110.1155/2021/81421618142161Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation ModelKaiyang Yin0Yaxu Xue1Yadong Yu2Shuangxi Xie3School of Electrical and Mechanical Engineering, Pingdingshan University, Pingdingshan 467000, ChinaSchool of Electrical and Mechanical Engineering, Pingdingshan University, Pingdingshan 467000, ChinaSchool of Electrical and Mechanical Engineering, Pingdingshan University, Pingdingshan 467000, ChinaSchool of Electrical and Mechanical Engineering, Pingdingshan University, Pingdingshan 467000, ChinaThe bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control.http://dx.doi.org/10.1155/2021/8142161 |
| spellingShingle | Kaiyang Yin Yaxu Xue Yadong Yu Shuangxi Xie Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model Journal of Robotics |
| title | Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model |
| title_full | Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model |
| title_fullStr | Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model |
| title_full_unstemmed | Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model |
| title_short | Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model |
| title_sort | variable impedance control for bipedal robot standing balance based on artificial muscle activation model |
| url | http://dx.doi.org/10.1155/2021/8142161 |
| work_keys_str_mv | AT kaiyangyin variableimpedancecontrolforbipedalrobotstandingbalancebasedonartificialmuscleactivationmodel AT yaxuxue variableimpedancecontrolforbipedalrobotstandingbalancebasedonartificialmuscleactivationmodel AT yadongyu variableimpedancecontrolforbipedalrobotstandingbalancebasedonartificialmuscleactivationmodel AT shuangxixie variableimpedancecontrolforbipedalrobotstandingbalancebasedonartificialmuscleactivationmodel |