Dynamical balance optimization and control of biped robots in   double-support phase under perturbing external forces

doi:10.1007/s00521-016-2316-6

CORC > 北京大学 > 工学院

	Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces
	Wang, Liyang ; Ge, Yongyong ; Chen, Ming ; Fan, Yongqing
刊名	NEURAL COMPUTING & APPLICATIONS
	2017
关键词	Biped robots Dynamic force distribution Balance optimization Motion/force control MOBILE MANIPULATORS ADAPTIVE-CONTROL STABLE WALKING HUMANOID ROBOT MACHINE SYSTEM ALGORITHM
DOI	10.1007/s00521-016-2316-6
英文摘要	To realize the dynamic balance optimization and control of biped robots under the perturbing external forces in the double-support phase, a systematic scheme is proposed in this paper. First, a constrained dynamic model of biped robots and a reduced order dynamical model for the double-support phase are formulated. Considering the dynamic external wrench applied on biped robots, we present a dynamic force distribution approach based on quadratic objective function for computing the optimal contact forces to equilibrate the dynamic external wrench. As a result, the sum of the normal force components is minimized for enhancing safety and energy saving. Then, one primary recurrent neural network (RNN) is adopted to solve the optimization problem subject to both equality and inequality constraints. For the derived optimized contact force and motion, hybrid motion/force control is proposed based on another RNN to approximate unknown dynamic functions. Adaptive learning algorithms for learning the parameters of the RNN are provided as well. The proposed control can deal with the uncertainties including approximation errors and external disturbances. Extensive simulations are presented to demonstrate the effectiveness of the proposed optimization and control approach.; National Natural Science Foundation of China [61403264, 61305098]; SCI(E); ARTICLE; 12; 4123-4137; 28
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/484513]
专题	工学院
推荐引用方式 GB/T 7714	Wang, Liyang,Ge, Yongyong,Chen, Ming,et al. Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces[J]. NEURAL COMPUTING & APPLICATIONS,2017.
APA	Wang, Liyang,Ge, Yongyong,Chen, Ming,&Fan, Yongqing.(2017).Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces.NEURAL COMPUTING & APPLICATIONS.
MLA	Wang, Liyang,et al."Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces".NEURAL COMPUTING & APPLICATIONS (2017).