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Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-dependent Constraint Forces

Bhaskar, Amisha and Dantu, Swati and Roy, Spandan and Lee, Jinoh and Baldi, Simone (2021) Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-dependent Constraint Forces. In: 20th International Conference on advanced robotics, ICAR 2021, pp. 410-415. 20th International Conference on Advanced Robotics, 6-10 Dec 2021, Ljubljana, Slovenia (Virtual).

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Abstract

Long standing challenges in adaptive bipedal walking control (i.e. control taking care of unknown robot parameters) were to unify the control design instead of designing multiple controllers for different walking phases as well as to bypass computing constraint forces, since it often leads to complex designs. A few attempts to design a single controller for all walking phases ignored or oversimplified the constraint forces. However, these forces are state-dependent and may lead to conservative performance or instability if not countered properly. This work proposes an innovative adaptive control method, based on artificial time delay control, which covers the entire bipedal walking phase and provides robustness against state-dependent unmodelled dynamics such as constraint forces and external impulsive forces arising during walking. Studies using a high fidelity simulator under various forms of disturbances show the effectiveness of the proposed design over the state of the art.

Item URL in elib:https://elib.dlr.de/145119/
Document Type:Conference or Workshop Item (Speech)
Title:Adaptive Artificial Time Delay Control for Bipedal Walking with Robustification to State-dependent Constraint Forces
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Bhaskar, AmishaNetaji Subhas University of TechnologyUNSPECIFIED
Dantu, SwatiInternational Institute of Information Technology HyderabadUNSPECIFIED
Roy, SpandanInternational Institute of Information Technology Hyderabadhttps://orcid.org/0000-0002-2238-9542
Lee, JinohJinoh.Lee (at) dlr.dehttps://orcid.org/0000-0002-4901-7095
Baldi, SimoneTU Delfthttps://orcid.org/0000-0001-9752-8925
Date:December 2021
Journal or Publication Title:20th International Conference on advanced robotics, ICAR 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 410-415
Status:Published
Keywords:adaptive control, bipedal locomotion
Event Title:20th International Conference on Advanced Robotics
Event Location:Ljubljana, Slovenia (Virtual)
Event Type:international Conference
Event Dates:6-10 Dec 2021
Organizer:IEEE Robotics & Automation Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Lee, Dr. Jinoh
Deposited On:10 Dec 2021 00:07
Last Modified:10 Dec 2021 00:07

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