Disturbance observer-based balance control of robotic biped walkers under slip

Yoshitaka Abe; Kuo Chen; Mitja Trkov; Jingang Yi; Seiichiro Katsura

doi:10.1109/AIM.2017.8014229

Disturbance observer-based balance control of robotic biped walkers under slip

Yoshitaka Abe, Kuo Chen, Mitja Trkov, Jingang Yi, Seiichiro Katsura

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear inverted models and inspired by human walking locomotion profiles. We present and compare the simulation results under both the feedback linearization-And DOB-based control designs.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1489-1494
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014229
Publication status	Published - 2017 Aug 21
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 2017 Jul 3 → 2017 Jul 7

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country	Germany
City	Munich
Period	17/7/3 → 17/7/7

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM.2017.8014229

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Abe, Y., Chen, K., Trkov, M., Yi, J., & Katsura, S. (2017). Disturbance observer-based balance control of robotic biped walkers under slip. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1489-1494). [8014229] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014229

Disturbance observer-based balance control of robotic biped walkers under slip. / Abe, Yoshitaka; Chen, Kuo; Trkov, Mitja; Yi, Jingang; Katsura, Seiichiro.

2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1489-1494 8014229 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abe, Y, Chen, K, Trkov, M, Yi, J & Katsura, S 2017, Disturbance observer-based balance control of robotic biped walkers under slip. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014229, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Institute of Electrical and Electronics Engineers Inc., pp. 1489-1494, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 17/7/3. https://doi.org/10.1109/AIM.2017.8014229

Abe Y, Chen K, Trkov M, Yi J, Katsura S. Disturbance observer-based balance control of robotic biped walkers under slip. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1489-1494. 8014229. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2017.8014229

Abe, Yoshitaka ; Chen, Kuo ; Trkov, Mitja ; Yi, Jingang ; Katsura, Seiichiro. / Disturbance observer-based balance control of robotic biped walkers under slip. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1489-1494 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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title = "Disturbance observer-based balance control of robotic biped walkers under slip",

abstract = "We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear inverted models and inspired by human walking locomotion profiles. We present and compare the simulation results under both the feedback linearization-And DOB-based control designs.",

author = "Yoshitaka Abe and Kuo Chen and Mitja Trkov and Jingang Yi and Seiichiro Katsura",

note = "Funding Information: The work was supported in part by the US NSF under award CMMI 1334389. The work by Y. Abe was supported in part by a Grant-in-Aid to the Program for Leading Graduate School for “Science for Development of Super Mature Society” from the Ministry of Education, Culture, Sport, Science, and Technology in Japan. Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

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language = "English",

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AB - We present balance recovery control of bipedal robotic walkers under foot slip disturbance. A dynamic model is first presented to capture the bipedal locomotion under slip disturbance. Two different control approaches are presented: one is based on the feedback linearization and the second one uses the disturbance observer (DOB) method. The recovery strategies and profiles are designed through linear inverted models and inspired by human walking locomotion profiles. We present and compare the simulation results under both the feedback linearization-And DOB-based control designs.

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Disturbance observer-based balance control of robotic biped walkers under slip

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