Application of active force control and iterative learning in a 5-link biped robot

Kwek, L. C. (2003) Application of active force control and iterative learning in a 5-link biped robot. Journal of Intelligent and Robotic Systems, 37 (2). pp. 143-162. ISSN 09210296

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Official URL: http://dx.doi.org/10.1023/A:1024187206507

Abstract

This paper investigates the efficacy of the implementation of the conventional Proportional-Derivative (PD) controller and different Active Force Control (AFC) strategies to a 5-link biped robot through a series of simulation studies. The performance of the biped system is evaluated by making the biped walk on a horizontal flat surface, in which the locomotion is constrained within the sagittal plane. Initially, a classical PD controller has been used to control the biped robot. Then, a disturbance elimination method called Active Force Control ( AFC) schemes has been incorporated. The effectiveness and robustness of the AFC as "disturbance rejecter" has been examined when a conventional crude approximation (AFCCA), and an intelligent active force control scheme, which is known as Active Force Control and Iterative Learning (AFCAIL) are employed. It is found that for both of the AFC control schemes proposed, the system is robust and stable even under the influence of disturbances. An attractive feature of the AFCAIL scheme is that inertia matrix tuning becomes much easier and automatic without any degradation in the performanc

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75.5-76.95 Electronic computers. Computer science
Divisions: Faculty of Engineering and Technology (FET)
Depositing User: Ms Rosnani Abd Wahab
Date Deposited: 22 Aug 2011 07:03
Last Modified: 22 Aug 2011 07:03
URI: http://shdl.mmu.edu.my/id/eprint/2561

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