Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Implementation of the Controller for a Stable Walking of a Humanoid Robot Using Improved Genetic Algorithm

개선된 유전 알고리즘 기반의 휴머노이드 로봇의 안정 보행을 위한 제어기 구현

  • 공정식 (대덕대학 마이크로로봇과) ;
  • 이응혁 (한국산업기술대학교 전자과) ;
  • 김진걸 (인하대학교 저자전기공학부)
  • Published : 2007.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

Keywords

References

  1. Y. Sakagami, R. Watanabe, C. Aoyama, S. Matsunaga, N. Higaki, and K. Fujimura, 'The intelligent ASIMO: System overview and integration,' IEEF/RSJ International Conference, vol. 3, pp. 2478-2483, 2002
  2. M. Fujita, Y. Kuroki, T. Ishida, and T. T. Doi, 'Autonomous behavior control architecture of entertainment humanoid robot SDR-4X,' Intelligent Robots and Systems (IROS2003), vol. 1, pp. 960 - 967, 2003
  3. M. J. Riezenman, 'Robots stand on own two feet,' Spectrum IEEE, vol. 39, pp. 24-25, Aug. 2002
  4. R. Kurazume, T. Hasegawa, and K. Yoneda, 'The sway compensation trajectory for a biped robot,' ICRA '03, vol. 1, pp. 925-931,2003
  5. J.-S. Kong, B.-H. Lee, and J.-G Kim, 'Design of a switching PIDcontroller using advanced genetic algorithm for a nonlinear system,' LNAI 3801, pp. 176-183, 2005
  6. P. Yang, X. Kong, Z.-J. Liu, H. Chen, Q. Zhau, and J. Liu, 'Hybrid joint controller for humanoid robot,' Int. Conf. on Machine Learning Cybernetics, pp. 4188-4192, 2005
  7. D. Kee, G WyETH, and J. Roberts, 'Biologically inspired joint control for a humanoid robot,' Int. Conf. on Humanoid Robots, pp. 385-401, 2004
  8. B.-J. lung, J.-S. Kong, B.-H. Lee, S.-M. Ahn, and J.-G Kim, 'Backlash compensation for a humanoid robot using disturbance observer,' Ini. Conf. On IECON, pp. 2042-2047, 2004
  9. T. Ishida, Y. Kuroki, J. Yamaguchi, M. Fujita, and T. T. Doi, 'Motion entertainment by a small humanoid robot based on OPEN-R,' IEEE/RSJ, pp. 1079-1086, 2001
  10. M. Vagi and V. Lumelsky, 'Biped robot locomotion in scenes with unknown obstacles,' International Conference on Robotics & Automation, pp. 375-380, 1999
  11. A. Konno, Y.Tanida, K. Abe, and M. Uchiyama, 'A plantar Hslip force sensor for humanoid robots to detect the reaction forces,' Intelligent Robots and Systems, pp. 1470-1475, 2005
  12. K. Nichiwaki, Y.Murakami, S. Kagami, Y.Kuniyoshi, M. Inaba, and H. Inoue, 'A six-axis force sensor with parallel support mechanicm to measure to ground reaction force of humanoid robot,' International conference on Robotics and Automation, pp. 2277-2282,2002
  13. J.-S. Kong, J.-G Kim, and B.-H. Lee, 'A study on the posture control of a humanoid robot,' Journal of Control, Automation and Systems Engineering, vol. 11, no. 1,pp. 77-83, 2005 https://doi.org/10.5302/J.ICROS.2005.11.1.077
  14. J.-S. Kong and J.-G Kim, 'Identification of a motor with multiple nonlinearities by improved genetic algorithm,' Lecture Notesin Artijicial lntelligence, vol. 3483, pp. 981-987, 2005