Optimal guaranteed control for robotic gait

Lipeng Yuan; Lei Chen; Chikun Gong; Wenlu Wang; Jiateng Jiang

doi:10.1109/FPM.2015.7337217

Optimal guaranteed control for robotic gait

Lipeng Yuan
, Lei Chen
, Chikun Gong
, Wenlu Wang
, Jiateng Jiang

School of Mechatronics Engineering

CHANGZHOU CHINA DlNOSAURlA KINGDOM Co., Ltd
Shanhai LoongRong Digital Technology Co., Ltd
University of Shanghai for Science and Technology
Shanhai Loong Vision Digital Technology Co., Ltd

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

Abstract

In this paper, An energy-effective gait is designed based on the mechanism of passive dynamic walking using piecewise torque and virtual gravity force method. At the same time, to keep the stability and guarantee the cost of muscle while biped robot walking, the guaranteed cost optimizing problem of the system is investigated. This problem can be solved by using 'Multi Virtual Gravity' method. And the stability of these gaits can be guaranteed by optimal guaranteed cost controller based on LMI(Liner Matrix Inequality). Finally, the stability of the closed-loop system are attained and the cost of energy are guaranteed too. Here, the guaranteed cost control with natural-looking passive dynamic walking mechanism is applied to the kneed biped walker system with bended stance knee. This result seems to be novelty.

Original language	English
Title of host publication	Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	761-769
Number of pages	9
ISBN (Electronic)	9781479987702
DOIs	https://doi.org/10.1109/FPM.2015.7337217
State	Published - 24 Nov 2015
Event	7th International Conference on Fluid Power and Mechatronics, FPM 2015 - Harbin, China Duration: 5 Aug 2015 → 7 Aug 2015

Publication series

Name	Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015

Conference

Conference	7th International Conference on Fluid Power and Mechatronics, FPM 2015
Country/Territory	China
City	Harbin
Period	5/08/15 → 7/08/15

Keywords

Biped robot
Guaranteed cost controller
Liner Matrix Inequality
Optimization
Virtual passive dynamic

Access to Document

10.1109/FPM.2015.7337217

Cite this

Yuan, L., Chen, L., Gong, C., Wang, W., & Jiang, J. (2015). Optimal guaranteed control for robotic gait. In Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015 (pp. 761-769). Article 7337217 (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FPM.2015.7337217

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title = "Optimal guaranteed control for robotic gait",

abstract = "In this paper, An energy-effective gait is designed based on the mechanism of passive dynamic walking using piecewise torque and virtual gravity force method. At the same time, to keep the stability and guarantee the cost of muscle while biped robot walking, the guaranteed cost optimizing problem of the system is investigated. This problem can be solved by using 'Multi Virtual Gravity' method. And the stability of these gaits can be guaranteed by optimal guaranteed cost controller based on LMI(Liner Matrix Inequality). Finally, the stability of the closed-loop system are attained and the cost of energy are guaranteed too. Here, the guaranteed cost control with natural-looking passive dynamic walking mechanism is applied to the kneed biped walker system with bended stance knee. This result seems to be novelty.",

keywords = "Biped robot, Guaranteed cost controller, Liner Matrix Inequality, Optimization, Virtual passive dynamic",

author = "Lipeng Yuan and Lei Chen and Chikun Gong and Wenlu Wang and Jiateng Jiang",

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year = "2015",

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doi = "10.1109/FPM.2015.7337217",

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series = "Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015",

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Yuan, L, Chen, L, Gong, C, Wang, W & Jiang, J 2015, Optimal guaranteed control for robotic gait. in Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015., 7337217, Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015, Institute of Electrical and Electronics Engineers Inc., pp. 761-769, 7th International Conference on Fluid Power and Mechatronics, FPM 2015, Harbin, China, 5/08/15. https://doi.org/10.1109/FPM.2015.7337217

Optimal guaranteed control for robotic gait. / Yuan, Lipeng; Chen, Lei; Gong, Chikun et al.
Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 761-769 7337217 (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015).

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

TY - GEN

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AU - Yuan, Lipeng

AU - Chen, Lei

AU - Gong, Chikun

AU - Wang, Wenlu

AU - Jiang, Jiateng

PY - 2015/11/24

Y1 - 2015/11/24

N2 - In this paper, An energy-effective gait is designed based on the mechanism of passive dynamic walking using piecewise torque and virtual gravity force method. At the same time, to keep the stability and guarantee the cost of muscle while biped robot walking, the guaranteed cost optimizing problem of the system is investigated. This problem can be solved by using 'Multi Virtual Gravity' method. And the stability of these gaits can be guaranteed by optimal guaranteed cost controller based on LMI(Liner Matrix Inequality). Finally, the stability of the closed-loop system are attained and the cost of energy are guaranteed too. Here, the guaranteed cost control with natural-looking passive dynamic walking mechanism is applied to the kneed biped walker system with bended stance knee. This result seems to be novelty.

AB - In this paper, An energy-effective gait is designed based on the mechanism of passive dynamic walking using piecewise torque and virtual gravity force method. At the same time, to keep the stability and guarantee the cost of muscle while biped robot walking, the guaranteed cost optimizing problem of the system is investigated. This problem can be solved by using 'Multi Virtual Gravity' method. And the stability of these gaits can be guaranteed by optimal guaranteed cost controller based on LMI(Liner Matrix Inequality). Finally, the stability of the closed-loop system are attained and the cost of energy are guaranteed too. Here, the guaranteed cost control with natural-looking passive dynamic walking mechanism is applied to the kneed biped walker system with bended stance knee. This result seems to be novelty.

KW - Biped robot

KW - Guaranteed cost controller

KW - Liner Matrix Inequality

KW - Optimization

KW - Virtual passive dynamic

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BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Yuan L, Chen L, Gong C, Wang W, Jiang J. Optimal guaranteed control for robotic gait. In Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 761-769. 7337217. (Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015). doi: 10.1109/FPM.2015.7337217

Optimal guaranteed control for robotic gait

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