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A Novel Adaptive Control Algorithm in Application to a Humanoid Robot Arm

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Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

A novel adaptive control algorithm was proposed and implemented in real-time on 2 degrees-of-freedom (DOF) of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) arm in joint-space. The algorithm features a sliding-mode term based adaptive law that captures directly the parameter estimation error. An auxiliary filtered regression vector and filtered computed torque is introduced. This allows the definition of another auxiliary matrix, a filtered regression matrix, which facilitates the introduction of the sliding term into the adaptation law. Parameter error convergence to zero can be guaranteed within finite-time with a Persistent-Excitation (PE) or Sufficient Richness condition for the demand. This theoretical result is then exemplified for the BERT II robot arm in simulation and experiment.

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Author information

Authors and Affiliations

  1. Bristol Robotic Laboratory and Department of Mechanical Engineering, University of Bristol, Bristol, UK

    Muhammad Nasiruddin Mahyuddin, Guido Herrmann & Said Ghani Khan

Authors
  1. Muhammad Nasiruddin Mahyuddin
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  2. Guido Herrmann
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  3. Said Ghani Khan
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Mahyuddin, M.N., Herrmann, G., Khan, S.G. (2012). A Novel Adaptive Control Algorithm in Application to a Humanoid Robot Arm. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_3

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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