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Xu H, Yu Z, Chen X, Dong C, Chen H, Huang Q. Disturbance rejection for biped robots during walking and running using control moment gyroscopes. IET CYBER-SYSTEMS AND ROBOTICS 2022. [DOI: 10.1049/csy2.12070] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Affiliation(s)
- Haochen Xu
- School of Mechatronical Engineering Beijing Institute of Technology Beijing China
| | - Zhangguo Yu
- School of Mechatronical Engineering Beijing Institute of Technology Beijing China
- Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China
| | - Xuechao Chen
- School of Mechatronical Engineering Beijing Institute of Technology Beijing China
- Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China
| | - Chencheng Dong
- School of Mechatronical Engineering Beijing Institute of Technology Beijing China
| | - Huanzhong Chen
- School of Mechatronical Engineering Beijing Institute of Technology Beijing China
| | - Qiang Huang
- School of Mechatronical Engineering Beijing Institute of Technology Beijing China
- Beijing Advanced Innovation Center for Intelligent Robotics and Systems Beijing Institute of Technology Beijing China
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A Non-Anthropomorphic Bipedal Walking Robot with a Vertically Stabilized Base. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12094108] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
The paper deals with the proposed concept of a biped robot with vertical stabilization of the robot’s base and minimization of its sideways oscillations. This robot uses 6 actuators, which gives good preconditions for energy balance compared to purely articulated bipedal robots. In addition, the used linear actuator is self-locking, so no additional energy is required for braking or to keep it in a stable position. The direct and inverse kinematics problems are solved by means of a kinematic model of the robot. Furthermore, the task is aided by a solution for locomotion on an inclined plane. Special attention is focused on the position of the robot’s center of gravity and its stability in motion. The results of the simulation confirm that the proposed concept meets all expectations. This robot can be used as a mechatronic assistant or as a carrier for handling extensions.
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A Neural Controller for Induction Motors: Fractional-Order Stability Analysis and Online Learning Algorithm. MATHEMATICS 2022. [DOI: 10.3390/math10061003] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
In this study, an intelligent control scheme is developed for induction motors (IMs). The dynamics of IMs are unknown and are perturbed by the variation of rotor resistance and load changes. The control system has two stages. In the identification stage, the group method of data-handling (GMDH) neural network (NN) was designed for online modeling of the IM. In the control stage, the GMDH-NN was applied to compensate for the impacts of disturbances and uncertainties. The stability is shown by the Lyapunov approach. Simulations demonstrated the good accuracy of the suggested new control approach under disturbances and unknown dynamics.
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