Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Soft Computing
Published in: Soft Computing 16/2021

20-04-2021 | Application of soft computing

Design and development of an adaptive-torque-based proportional-integral-derivative controller for a two-legged robot

Authors: Ravi Kumar Mandava, Pandu R. Vundavilli

Published in: Soft Computing | Issue 16/2021

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

The torque-based proportional-integral-derivative (PID) controller proposed in this paper is operated on joint motors by minimizing the error between the target and actual angular displacements of that joint to achieve a superior control. On the basis of the aforementioned phenomenon, the execution effectiveness of the two-legged robot’s gait can be controlled. The PID controller parameter tuning is a laborious and time-consuming process, and the controllers’ performance depends on the gain values set for the controller. To overcome the said drawbacks, this study develops an adaptive-torque-based PID controller for a two-legged robot that can provide adaptive gains on the basis of the magnitude of input signal received at the input nodes of the neural network (NN). Furthermore, the structure of the feedforward NN has been optimized with the help of the modified chaotic invasive weed optimization (MCIWO) algorithm. Moreover, the concept of zero moment point has been employed to check the balance of the two-legged robot while walking on various terrains (that is, flat, stair, and sloped surfaces). The effectiveness of the developed controller has been verified in both simulations and practical.
previous article A two-stage intrusion detection approach for software-defined IoT networks
next article Maximum power point tracking in photovoltaic systems using indirect adaptive fuzzy robust controller

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
Literature
Aghbali B, Koma AYO (2013a) ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation. In: Proceeding of the 2013 RSIIISM international conference on robotics and mechatronics, Tehran, Iran, pp 530–534
Aghbali B, Koma AY (2013b) ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation. In: Proceeding of the 2013 RSIIISM international conference on robotics and mechatronics, Tehran, Iran
Anh HPH, Huan TT, Nam NT (2014) Novel robust walking for biped robot using adaptive neural PID controller. In: International conference on automatic control theory and application, pp 86–89
Aniruddha B, Siddharth P, Swagatam D, Ajith A (2010) A modified invasive weed optimization algorithm for time-modulated linear antenna array synthesis. IEEE Cong Evolut Comput 1–10.
Bagheri A, Miripour-Fard B, Mousavi PN (2010) Mathematical modelling and simulation of combined trajectory paths of a seven link biped robot. Climb Walk Robot
Bouhajar S, et al (2015) Trajectory generation using predictive PID control for stable walking humanoid robot. In: Procedia computer science, the international conference on advanced wireless, information, and communication technologies, pp 86–93.
Cheng MY, Lin CS (2000) Dynamic bio-robotic leg locomotion on less structured surfaces. Robotica 18:163–170CrossRef
Chiang MH, Chiang R (2013) Anthropomorphic design of the human-like walking robot. J Bionic Eng 10:186–193CrossRef
Chu Z, Sun F, Cui J (2008) Disturbance observer-based robust control of free-floating space manipulators. IEEE Syst J 2(1):114–119CrossRef
Clever D, Hu Y, Mombaur K (2018) Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings. Robot Res 37(10):1–20
Derrac J, Garcia S, Molina D, Herrera F (2011) A practical tutorial on the use of nonparametric statistical tests as a methodology for comparing evolutionary and swarm intelligence algorithms. Swarm Evolut Comput 1:3–18CrossRef
Engelbrecht AP (2007) Computational intelligence. In: An introduction. Wiley, Hoboken.
Fister D, Fister I, Fister I, Safaric R (2016) Parameter tuning of PID controller with reactive nature-inspired algorithms. Robot Autonom Syst 84:64–75CrossRef
Hang CC, Astrom KJ, Wang QG (2002) Relay feedback auto-tuning of process controllers. A Tutor Rev J Process Control 12(1):143–162CrossRef
Hojati M, Gazor S (2002) Hybrid adaptive fuzzy identification and control of nonlinear systems. IEEE Trans Fuzzy Syst 10(2):198–210CrossRef
Huang Q, Yokoi K, Kajita S, Kaneko K, Arai H, Koyachi N, Tanie K (2001) Planning walking patterns for a biped robot. IEEE Trans Robot Autom 17:280–289CrossRef
Jimenez JJA, Perez DH, Barbera HM (2013) A simple feedback controller to reduce angular momentum in ZMP-based gaits. Int J Adv Robot Syst 10:1–7
Juang JG (2001) Intelligent trajectory control using recurrent averaging learning. Appl Artif Intell 15(3):277–296CrossRef
Kajita S, et al (2010) Biped walking stabilization based on linear inverted pendulum tracking. In: The 2010 IEEE/RSJ international conference on intelligent robots and systems, Taipei, Taiwan, pp 4489–4496
Kajita S (2017) Feedback control of inverted pendulums. In: Goswami A, Vadakkepat P (eds) Humanoid robotics: a reference. Springer, Dordrecht
Kajita S, Morisawa M, Miura K, Nakaoka S, Harada K, Kaneko K, Kanehiro F, Yokoi K (2010) Biped walking stabilization based on linear inverted pendulum tracking. In: The 2010 IEEE/RSJ international conference on intelligent robots and systems, Taipei, Taiwan
Kelly R, Santibáñez V, Loría A (2005) Control of robot manipulators in joint space. Springer, London
Koker R, Cakar T, Sari Y (2014) A neural-network committee machine approach to the inverse kinematics problem solution of robotic manipulators. Eng Comput 30(4):641–649CrossRef
Malekabadi M, Haghparast M, Nasiri F (2018) Air condition’s PID controller fine-tuning using artificial neural networks and genetic algorithms. Computers 7:1–14CrossRef
Mandava RK, Vundavilli PR (2018a) Near optimal PID controllers for the biped robot while walking on uneven terrains. Int J Autom Comput 15(6):689–706CrossRef
Mandava RK, Vundavilli PR (2018b) Implementation of modified chaotic invasive weed optimization algorithm for optimizing the PID controller of the biped robot”. Sādhanā 43(5):1–18MathSciNetCrossRefMATH
Mehrabian AR, Lucas C (2006) A novel numerical optimization algorithm inspired from weed colonization. Ecol Inform 1(4):355–366CrossRef
Mirjalili S, Hashim SZM (2010) A new hybrid PSOGSA algorithm for function optimization. Int Conf Comput Inform Appl (ICCIA 2010), pp 374–377.
Mohamadreza A, Hamed M (2012) Chaotic invasive weed optimization algorithm with application to parameter estimation of chaotic systems. Chaos Solitons Fract 45:1108–1120MathSciNetCrossRef
Mojtaba G, Sahand G, Jamshid A, Mohsen G, Hasan F (2014) Application of chaos-based chaotic invasive weed optimization techniques for environmental OPF problems in the power system. Chaos Solitons Fract 69:271–284CrossRefMATH
Mousavi PN, Bagheri A (2007) Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations. Appl Math Model 31:18–37CrossRefMATH
Nguyen T, Tao L, Hasegawa H (2016) Gait generation for a small biped robot using approximated optimization method. In: Proceedings of the 2016 second international conference on mechanical engineering and automation science, IOP conference series: materials science and engineering, vol 157, pp 1–5.
Park S, Han Y, Hahn H (2009) Balance control of a biped robot using camera image of reference object. Int J Control Autom Syst 7(1):75–84CrossRef
Ranjbar M, Mayorga RV (2017) A seven link biped robot walking pattern generation on various surfaces. Wseas Trans Syst 16:299–312
Roy GG, Das S, Chakraborty P, Suganthan PN (2011) Design of non -uniform circular antenna arrays using a modified invasive weed optimization algorithm. IEEE Trans Anten Propag 59(1):110–118CrossRef
Satoh S, Fujimoto K (2018) Gait generation for a biped robot with knees and torso via trajectory learning and state-transition estimation. Artif Life Robot 23(4):489–497CrossRef
Shamna P, Priya N, Ahamed KS (2017) Walking stability control of biped robot based on three mass with angular momentum model using predictive PID control. In: International conference on electronics, communication and aerospace technology ICECA 2017, Coimbatore, India, pp 584-588
Shih CL (1999) Ascending and descending stairs for a biped robot. IEEE Trans Syst Man Cybern A Syst Hum 29:255–268CrossRef
Slotine JE, Li W (1991) Applied nonlinear control. Prentice-Hall, Englewood CliffsMATH
Varol HA, Bingul Z (2004) A new PID tuning technique using ant algorithm. In: Proceeding of the 2004 American control conference, Boston, Massachusetts
Vukobratovic M, Borovac B (2004) Zero-moment point: thirty-five years of life. Int J Hum Robot 1(1):157–173CrossRef
Vundavilli PR, Pratihar DK (2011) Balanced gait generations of a two-legged robot on sloping surface. Sadhana 36(4):525–550CrossRef
Wai RJ, Muthusamy RK (2013) Fuzzy-neural-network inherited sliding mode control for robot manipulator including actuator dynamics. IEEE Trans Neural Netw Learn Syst 24(2):274–287CrossRef
Wang L et al (2013) Energy-efficient SVM learning control system for biped walking robots. IEEE Trans Neural Netw Learn Syst 24(5):831–837CrossRef
Wu HM, Hwang CL (2011) Trajectory-based control under ZMP constraint for the 3D biped walking via fuzzy control. In: IEEE international conference on fuzzy systems, Taipei, Taiwan, pp 706-712
Wu Y, Song Q, Yang X (2007) Robust recurrent neural network control of biped robot. J Intell Robot Syst 49:151–169CrossRef
Yau TJ, Yun TC, Chih PH (2008) Design of fuzzy PID controllers using modified triangular membership functions. J Inform Sci 178(12):1325–1333MATH
Yoo SJ, Park JB, Choi YH (2007) Robust control of planar biped robots in single support phase using intelligent adaptive back stepping technique. Int J Control Autom Syst 5(3):269–282
Zang X, Liu Y, Liu X, Zhao J (2016) Design and control of a pneumatic musculoskeletal biped robot. Technol Health Care 24:S443–S454CrossRef
Metadata
Title
Design and development of an adaptive-torque-based proportional-integral-derivative controller for a two-legged robot
Authors
Ravi Kumar Mandava
Pandu R. Vundavilli
Publication date
20-04-2021
Publisher
Springer Berlin Heidelberg
Published in
Soft Computing / Issue 16/2021
Print ISSN: 1432-7643
Electronic ISSN: 1433-7479
DOI
https://doi.org/10.1007/s00500-021-05811-4

Other articles of this Issue 16/2021

Soft Computing 16/2021 Go to the issue

Soft computing in decision making and in modeling in economics

Fuzzy logic approach in energy security decision-making: “ESecFuzzy” software application

Application of soft computing

Maximum power point tracking in photovoltaic systems using indirect adaptive fuzzy robust controller

Application of soft computing

Real-time sign language framework based on wearable device: analysis of MSL, DataGlove, and gesture recognition

Application of soft computing

A dynamic fuzzification approach for interval type-2 membership function development: case study for QoS planning

Application of soft computing

A numerical solution strategy based on error analysis for time-fractional mobile/immobile transport model

Foundations

Computational analysis on the different core configurations for metal sandwich panel under high velocity impact

Premium Partner

    Image Credits