Authors: Liang Yang; Qingtao Han; Chunjian Deng
Addresses: School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute, China ' School of Electronic Engineering, Dongguan University of Technology, China ' School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute, China
Abstract: This paper investigates the dynamic balance problem of humanoid robot and presents a systematic control architecture. In order to achieve better locomotion stability and control performance, a hybrid offline and online control algorithm based on all robot joints is proposed. Considering the complicated nonlinear relationship between zero-moment-point (ZMP) and robot joints, an offline learning algorithm based on extreme learning machine (ELM) is adopted to approximate the centre of mass (CoM) correction value according to ZMP error. Then, an online control method is employed to adjust all joints trajectories according to CoM position by minimising energy consumption. Given the optimised joints motion, an adaptive control system is proposed to track the desired trajectories and the stability proof is provided. The simulation results validate the proposed method.
Keywords: humanoid robots; extreme learning machine; ELM; adaptive control; centre of mass; CoM; zero moment point; ZMP; walking control; robot control; walking robots; legged locomotion; dynamic balance; locomotion stability; energy consumption; trajectory tracking; simulation.
International Journal of Automation and Control, 2016 Vol.10 No.4, pp.375 - 388
Available online: 15 Sep 2016 *Full-text access for editors Access for subscribers Purchase this article Comment on this article