Title: Novel adaptive balanced control of humanoid robot type NAO robot

Authors: Mahmoud Farhat; Brahim Brahmi; Maarouf Saad; Mohammad H. Rahman

Addresses: Electrical Engineering Department, École de technologie supérieure Université de Québéc, Montreal, QC H3C 1K3, Canada ' Mechanical Engineering Department, McGill University, Montreal, Canada ' Electrical Engineering Department, École de technologie supérieure Université de Québéc, Montreal, QC H3C 1K3, Canada ' Mechanical/Biomedical Engineering Department, University of Wisconsin-Milwaukee, Milwaukee, USA

Abstract: This paper presents a novel adaptive tracking controller based on the modified function approximation technique (MFAT). The proposed approach includes a sliding mode with MFAT to approximate the unknown dynamic model of the NAO robot on which it mainly relies. The impact policy and unknown dynamics of the system are considered when implementing the control approach to improve the NAO's robot locomotion. Unlike conventional FAT, the basis functions in the dynamic parameters approximation updated law are avoided in the proposed MFAT. The Lyapunov function is presented a stability analysis according to which all error signals are uniformly ultimately bounded in a closed loop. Simulations were performed to validate the design MFAT approach for the NAO robot by carrying out a comparative study with a conventional model-based controller.

Keywords: adaptive control; humanoid robots; function approximation technique; NAO robot; biped locomotion.

DOI: 10.1504/IJMIC.2021.123487

International Journal of Modelling, Identification and Control, 2021 Vol.39 No.3, pp.211 - 220

Received: 17 Jan 2021
Accepted: 03 Jun 2021
Published online: 23 Jun 2022 *

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