An optimal control of biped robot for human-likewalking

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[1] Rai, Jaynendra Kumar
[2] Tewari, Ravi Prakash
[3] Chandra, Dinesh
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| 1600年 / Acta Press, Building B6, Suite 101, 2509 Dieppe Avenue S.W., Calgary, AB, T3E 7J9, Canada卷 / 28期
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This paper presents an optimal control of biped robot for humanlike walking. A mathematical dynamic model of biped robot having seven links i.e; thigh; shank and foot for each leg and one link representing entire upper body i.e; torso is considered here. The Lagrange-Euler formulation is used to obtain the dynamic equations of motion for calculating torques at various joints. As the dynamics of leg is a highly complex and non-linear system with several uncertainties; a robust tracking controller that guarantee the performance is required. Polynomial trajectory used as reference trajectory is based on gait cycle of human walking data. First a robust controller is designed using an algebraic Riccati equation. This robust tracking controller is designed as an optimal controller; where the uncertainties are incorporated in design of optimal controller. The simulation result shows that the proposed controller can be used to control level walking of a biped robot just like human even with bounded uncertainties;
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