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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

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 (US)
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
State	Published - Aug 21 2017
Externally published	Yes
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: Jul 3 2017 → Jul 7 2017

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	7/3/17 → 7/7/17

All Science Journal Classification (ASJC) codes

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

Abe, Yoshitaka ; Chen, Kuo ; Trkov, Mitja et al. / Disturbance observer-based balance control of robotic biped walkers under slip. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1489-1494 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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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",

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doi = "10.1109/AIM.2017.8014229",

language = "English (US)",

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

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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, 7/3/17. 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

TY - GEN

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AU - Chen, Kuo

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AU - Katsura, Seiichiro

PY - 2017/8/21

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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.

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M3 - Conference contribution

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

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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

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

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