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/Territory	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

Cite this

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). Article 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 et al.
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). doi: 10.1109/AIM.2017.8014229

@inproceedings{39b089e8d37147169c6d242f1bec24ec,

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 = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

year = "2017",

month = aug,

day = "21",

doi = "10.1109/AIM.2017.8014229",

language = "English",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1489--1494",

booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",

}

TY - GEN

T1 - Disturbance observer-based balance control of robotic biped walkers under slip

AU - Abe, Yoshitaka

AU - Chen, Kuo

AU - Trkov, Mitja

AU - Yi, Jingang

AU - Katsura, Seiichiro

PY - 2017/8/21

Y1 - 2017/8/21

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=85028762563&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85028762563&partnerID=8YFLogxK

U2 - 10.1109/AIM.2017.8014229

DO - 10.1109/AIM.2017.8014229

M3 - Conference contribution

AN - SCOPUS:85028762563

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1489

EP - 1494

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

Y2 - 3 July 2017 through 7 July 2017

ER -

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

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this