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2017 | OriginalPaper | Buchkapitel

Optimal Control Method for Stable Walking Gait of a UXA-90 Light Robot

verfasst von : Nhat Dang Khoa Nguyen, Ba Long Chu, Thanh Phuong Nguyen, Hoang Long Phan, Tan Tien Nguyen

Erschienen in: AETA 2016: Recent Advances in Electrical Engineering and Related Sciences

Verlag: Springer International Publishing

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Abstract

This paper studies an optimal control method for a biped robot based on parameters of the UXA 90-Light robot with stable walking gait. First, a walking pattern is generated by using a simplified model for the robot. Second, a calculation of ZMP from robot’s motion is created to feedback the state of the robot. Furthermore, an optimal control of a full state observer of joint motion is also introduced and the inverse kinematics of the robot is solved by the solid geometry method. Third, an optimal tracking controller is designed to control the ZMP trajectory of the robot to achieve stable state of the robot. Finally, the effectiveness of the walking controller is shown through simulation results.

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Titel: Optimal Control Method for Stable Walking Gait of a UXA-90 Light Robot
verfasst von: Nhat Dang Khoa Nguyen
Ba Long Chu
Thanh Phuong Nguyen
Hoang Long Phan
Tan Tien Nguyen
Verlag: Springer International Publishing
Buch: AETA 2016: Recent Advances in Electrical Engineering and Related Sciences
Print ISBN: 978-3-319-50903-7

Electronic ISBN: 978-3-319-50904-4

Copyright-Jahr: 2017
DOI: https://doi.org/10.1007/978-3-319-50904-4_68