Title: Nonlinear modelling and analysis of stable behaviour of robot gait control system based on image processing technology

Authors: Jin Wang; Hui Lin; Wenbing Yang

Addresses: Research and Development Center, The Second Research Institute of CAAC, Chengdu, 610041, China ' Technique Department, Chengdu Aerospace Kate Electromechanical Technology Co., Ltd., Chengdu, 610041, China ' Research and Development Department, The Third Military Representative Office in Chengdu of the Army Equipment Department, Chengdu, 610041, China

Abstract: Walking stability is an important index to measure the walking performance of robot, and is the key to realise its wide application. However, the traditional gait control system has low control accuracy and long control time. Therefore, aiming at the above problems, a nonlinear modelling and analysis method of stable behaviour of robot gait control system based on image processing technology is studied and designed. The robot gait control system is composed of main control system hardware, wireless control system, robot debugging software and image pre-processing module. The hardware design of the main control system includes the DSP minimum system and the steering gear control board. The image pre-processing module pre-processes the image collected by the CCD camera to remove the noise in the image. Finally, the speed of the robot is controlled by visual servo control method, and a nonlinear sliding mode control closed-loop system of the robot is constructed. The simulation results show that the designed method has the highest accuracy of 100%, and the longest time is only 27.96 s. It has high control accuracy and control efficiency, which provides a method reference for further realising the optimal control of the robot.

Keywords: image processing techniques; robot; gait control; stable behaviour; nonlinear analysis.

DOI: 10.1504/IJCISTUDIES.2023.137848

International Journal of Computational Intelligence Studies, 2023 Vol.12 No.3/4, pp.271 - 289

Received: 21 Sep 2022
Accepted: 22 Sep 2023
Published online: 05 Apr 2024 *

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