On the controller implementation in the real underactuated walking robot model
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F19%3A00505797" target="_blank" >RIV/67985556:_____/19:00505797 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
On the controller implementation in the real underactuated walking robot model
Original language description
The purpose of this paper is the experimental validation of the sensor fusion designed for the possible future use in the walking-like mechanical systems design. The validation is made using the actuated leg being the part of the fourlink laboratory walking-like system and it is equipped with several sensors. The experiments aim to track the reference angular positions trajectory using the state feedback controller. The information needed by that feedback controller (angular positions, velocities and input currents of DC motors actuating rotary joints) is obtained from the sensors measurements. Two types of experiments are compared: (i) using these measurements directly, (ii) pre-processing them via the designed sensor fusion method. The fusion is based on the so-called low-level hybrid Extended Kalman Filter (HEKF) realization, which has the future potential to be implemented on the PCBs attached to the legs links only. Yet, the presented experimental results demonstrate the prevalence of the control using the fused data.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/GA17-04682S" target="_blank" >GA17-04682S: Control of walking robots using collocated virtual holonomic constraints</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 12th Asian Control Conference (ASCC 2019)
ISBN
978-4-88898-301-3
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1125-1130
Publisher name
IEEE
Place of publication
Fukuoka
Event location
Kitakyusyu International Conference Center
Event date
Jun 9, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000490720700196