ICRA 2012 Paper Abstract

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Paper WeB02.6

An, Sang-ik (Korea Advanced Institute of Science and Technology (KAIST)), Oh, Yonghwan (KIST), Kwon, Dong-Soo (KAIST)

Zero-Moment Point Based Balance Control of Leg-Wheel Hybrid Structures with Inequality Constraints of Dynamic Behavior

Scheduled for presentation during the Regular Session "Hybrid Legged Robots" (WeB02), Wednesday, May 16, 2012, 11:45−12:00, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Multi-legged Robots, Redundant Robots, Wheeled Robots

Abstract

This paper discusses an unified method of the tracking and balancing controls for leg-wheel hybrid structures in an effort to improve the mobility over hard, flat surfaces. Preliminarily, we analyzed the contact constraint to formulate a dynamically decoupled model in the task space. Then, inequality constraints were determined to restrict the dynamic behavior of the system within the given bounds for the dynamic stability and the actuator saturation. The inequality constraints were applied to the reference control input that was designed for the mechanism to traverse the desired trajectories without the constraints. To find the constrained control input, a quadratic objective function was proposed to minimize the modification error of the control inputs. We tested the effectiveness of the proposed algorithm by comparing simulation results with our previous research.

 

 

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