On the controller implementation in the real underactuated walking robot model

Kód výsledku v 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>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

On the controller implementation in the real underactuated walking robot model

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

On the controller implementation in the real underactuated walking robot model

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA17-04682S" target="_blank" >GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení</a><br>

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 12th Asian Control Conference (ASCC 2019)

ISBN

978-4-88898-301-3

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

1125-1130

Název nakladatele

IEEE

Místo vydání

Fukuoka

Místo konání akce

Kitakyusyu International Conference Center

Datum konání akce

9. 6. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000490720700196