Title: The walking stability control method of robots based on sensing quantitative fusion tracking

Authors: Guan He

Addresses: Department of Electronic Engineering, Anhui Wenda University of Information Engineering, He'fei 231201, China

Abstract: In order to solve the problem of poor stability and large steady-state error in the process of robot walking, a method of robot walking stability control based on sensor quantitative fusion tracking is proposed. In this paper, several sensors are used to collect the robot's attitude parameters and establish the robot's kinematics and dynamics model. The integral term of the tracking error is introduced and the steady-state error of the robot's walking is compensated by the backward sliding mode integral control. Under the external bounded interference, the conjugate gradient method is used to suppress the small interference and build the whole robot's walking system. The control law of the robot realises the stability control of the robot. The simulation results show that this method improves the tracking ability of robot motion parameters fusion and the accuracy of attitude parameters estimation, and improves the robustness of robot walking control.

Keywords: sensor; quantitative fusion tracking; robot; walking; stability control.

DOI: 10.1504/IJICT.2022.124332

International Journal of Information and Communication Technology, 2022 Vol.21 No.1, pp.49 - 62

Received: 10 Aug 2020
Accepted: 14 Oct 2020
Published online: 22 Jul 2022 *

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