Year: 2007
Type: dissertation
Abstract: A proportional derivative control strategy was developed for the purpose of achieving balance in a humanoid robot.An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling a lightweight robot skeleton.Gains were modified as a function of joint angles to permit low gain near the equilibrium point, and consequently to promote a human-like swaying behavior that is energyefficient.The control strategy was testing by placing a non-zero initial condition on the ankle joint angle and observing the robot, both physically and in simulation, attempt to achieve a stable swaying pattern.This was achieved successfully in a simulation of the robot's mass and inertial parameters, but further efforts must be made to obtain the same behavior in the robot.The ability of a robot to successfully balance using a human-like sway pattern adds another successful biomimetic feature to humanoid robot control and in addition should improve the efficiency of such systems.
Author: Brendan Englot
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W1505087440