NDLI: Stable gait planning and motion control of two cooperative humanoid robots

Content Provider	IEEE Xplore Digital Library
Author	Moosavian, S.A.A. Ghazikhani, M.H. Janati, A.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Eng, K. N. Toosi Univ. of Tech, Tehran 19991-34433, Iran (Moosavian, S.A.A.; Ghazikhani, M.H.; Janati, A.)
Abstract	Control of the humanoid robots requires appropriate gait planning that satisfies stable walking. In this study, a Modified Transpose Jacobian (MTJ) control algorithm for object manipulation by two humanoid robots is developed. Such cooperative humanoid robots may typically get employed in hazardous situation and industrial applications. In the present paper, a high performance and robust controller was developed for the safe load handling, transportation and trajectory tracking. The MTJ algorithm, based on an approximated feedback linearization approach, employs stored data of the control command in the previous time step, to yield an improved performance. First, dynamic equations of the robot were derived. In order to verify the obtained dynamics equations, another model for the considered system has been developed using Matlab/SimMechanics simulation software. Comparison between the results obtained from these two dynamics models confirms the validity of the proposed analytical approach. Then, the stable walking gait based on ZMP approach was planned. Furthermore, the MTJ controller was applied to the robots and for comparison, the Transpose Jacobian (TJ) was also utilized. Significantly, it is shown that the MTJ yields smaller trajectory tracking errors than the TJ controller, without requiring high gains as TJ or extra computations as model-based algorithms which may not be feasible for on-line implementations.
Starting Page	1123
Ending Page	1128
File Size	912675
Page Count	6
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Legged locomotion Modified Transpose Jacobian Control Robot kinematics Object manipulation Cooperative humanoid robots Humanoid robots Gait Planning ZMP stability Trajectory Mathematical model Joints
Content Type	Text
Resource Type	Article

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