Robust Position Regulation of a Seesaw Actuated by a Humanoid

This paper presents the implementation of a robust control technique applied within a standard multi-objective robot controller for humanoid robots. The challenge is to regulate the angular position of a seesaw actuated by a humanoid on it, which is a complex multitask involving the humanoid balance...

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Bibliographic Details
Published in2022 IEEE 18th International Conference on Automation Science and Engineering (CASE) pp. 1315 - 1320
Main Authors Orozco-Soto, Santos M., Ibarra-Zannatha, Juan M., Kheddar, Abderrahmane
Format Conference Proceeding
LanguageEnglish
Published IEEE 20.08.2022
Subjects
Asymptotic stability
Humanoid robots
Humanoid robots control
Regulation
Robust control
seesaw control
Solids
Stability analysis
Steady-state
super twisting sliding mode control
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Summary:This paper presents the implementation of a robust control technique applied within a standard multi-objective robot controller for humanoid robots. The challenge is to regulate the angular position of a seesaw actuated by a humanoid on it, which is a complex multitask involving the humanoid balance, the motion to project its weight into its feet to move the seesaw, and the seesaw motion itself. An accurate model of the seesaw is not available, therefore, a model-free approach based on super twisting sliding mode control is proposed; besides, the stability of the closed-loop system with the proposed technique is proved using the Lyapunov's direct method. The proposed controller was applied to a multi-robot model compound by the HRP-4 humanoid and a passive seesaw model, and it was tested using a physics-engine simulation environment. The presented results show that the challenge of regulating the seesaw was successfully achieved by means of the proposed robust control.
ISSN:2161-8089
DOI:10.1109/CASE49997.2022.9926663