Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming
Biped robot research has always been a research focus in the field of robot research. Among them, the motion control system, as the core content of the biped robot research, directly determines the stability of the robot walking. Traditional biped robot control methods suffer from low model accuracy...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/2789039 |
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| author | Xiaokun Leng Songhao Piao Lin Chang Zhicheng He Zheng Zhu |
| author_facet | Xiaokun Leng Songhao Piao Lin Chang Zhicheng He Zheng Zhu |
| author_sort | Xiaokun Leng |
| collection | DOAJ |
| description | Biped robot research has always been a research focus in the field of robot research. Among them, the motion control system, as the core content of the biped robot research, directly determines the stability of the robot walking. Traditional biped robot control methods suffer from low model accuracy, poor dynamic characteristics of motion controllers, and poor motion robustness. In order to improve the walking robustness of the biped robot, this paper solves the problem from three aspects: planning method, mathematical model, and control method, forming a robot motion control framework based on the whole-body dynamics model and quadratic planning. The robot uses divergent component of motion for trajectory planning and introduces the friction cone contact model into the control frame to improve the accuracy of the model. A complete constraint equation system can ensure that the solution of the controller meets the dynamic characteristics of the biped robot. An optimal controller is designed based on the control framework, and starting from the Lyapunov function, the convergence of the optimal controller is proved. Finally, the experimental results show that the method is robust and has certain anti-interference ability. |
| format | Article |
| id | doaj-art-978adc95b1824f39a1b18914f349bff1 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-978adc95b1824f39a1b18914f349bff12025-08-20T02:09:52ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/27890392789039Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic ProgrammingXiaokun Leng0Songhao Piao1Lin Chang2Zhicheng He3Zheng Zhu4School of Computer Science, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Computer Science, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Computer Science, Harbin Institute of Technology, Harbin 150001, ChinaSchool of Computer Science, Harbin Institute of Technology, Harbin 150001, ChinaLeju (Shenzhen) Robotics, Shenzhen 518057, ChinaBiped robot research has always been a research focus in the field of robot research. Among them, the motion control system, as the core content of the biped robot research, directly determines the stability of the robot walking. Traditional biped robot control methods suffer from low model accuracy, poor dynamic characteristics of motion controllers, and poor motion robustness. In order to improve the walking robustness of the biped robot, this paper solves the problem from three aspects: planning method, mathematical model, and control method, forming a robot motion control framework based on the whole-body dynamics model and quadratic planning. The robot uses divergent component of motion for trajectory planning and introduces the friction cone contact model into the control frame to improve the accuracy of the model. A complete constraint equation system can ensure that the solution of the controller meets the dynamic characteristics of the biped robot. An optimal controller is designed based on the control framework, and starting from the Lyapunov function, the convergence of the optimal controller is proved. Finally, the experimental results show that the method is robust and has certain anti-interference ability.http://dx.doi.org/10.1155/2020/2789039 |
| spellingShingle | Xiaokun Leng Songhao Piao Lin Chang Zhicheng He Zheng Zhu Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming Complexity |
| title | Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming |
| title_full | Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming |
| title_fullStr | Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming |
| title_full_unstemmed | Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming |
| title_short | Universal Walking Control Framework of Biped Robot Based on Dynamic Model and Quadratic Programming |
| title_sort | universal walking control framework of biped robot based on dynamic model and quadratic programming |
| url | http://dx.doi.org/10.1155/2020/2789039 |
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