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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

  • DOI - Digital Object Identifier

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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • 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

  • e-ISSN

  • 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