Skip to main content
SpringerLink
Log in

The impulse excitation joint servo drive design and adaptive backstepping control of humanoid robots

  • Published:
Journal of Bionic Engineering Aims and scope Submit manuscript

Abstract

This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control. To make the humanoid robot have explosive power as the human does, simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on. Moreover, the backstepping control algorithm is designed to implement the dual-arm cooperative control. The joint servo drive is redesigned in the present study, which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque. A miniature design scheme is presented in this study for the servo drive, explaining the design method of each part module. The experimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor. Knowledge of the control of humanoid robot moving a heavy object has important practical significance. The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Sathyan A, Milivojevic N, Lee Y J, Krishnamurthy M, Emadi A. An FPGA-based novel digital PWM control scheme for BLDC motor drives. IEEE Transactions on Industrial Electronics, 2009, 56, 3040–3049.

    Article  Google Scholar 

  2. Emadi A. Handbook of Automotive Power Electronics and Motor Drive, FL: CRC Press, Boca Raton, USA, 2005.

    Book  Google Scholar 

  3. Aboulnaga A A, Desai P C, Rodriguez F, Cooke T R, Emadi A. A novel, low-cost, high-performance single-phase adjustable- speed motor drive using PM brush-less DC machine: IIT’s design for 2003 future energy challenge. Applied Power Electronics Conference and Exposition, 2004, 3, 1595–1603.

    Google Scholar 

  4. Lu C W. Torque controller for brushless DC motors. IEEE Transactions on Industrial Electronics, 1999, 46, 471–473.

    Article  Google Scholar 

  5. Xia C L, Li Z Q, Shi T N. A control strategy for four-switch three phase brushless DC motor using single current sensor. IEEE Transactions on Industrial Electronics, 2009, 56, 2058–2066.

    Article  Google Scholar 

  6. Dubey R, Agarwal P, Vasantha M K. Programmable logic devices for motion control–A review. IEEE Transactions on Industrial Electronics, 2007, 54, 559–566.

    Article  Google Scholar 

  7. Jing Z H, Gao X S, Li H, Zeng Z. Observation of load torque and auto-tuning of pd regulator for space robot servo system based on a linear driver. Proceedings of IEEE International Conference on Mechatronics and Automation, Takamatsu, Japan, 2008, 622–626.

    Google Scholar 

  8. Lee J W, Kim T W. Design and experimental analysis of embedded servo motor driver for robot finger joints. Proceedings of IEEE International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Incheon, Korea, 2011, 548–551.

    Google Scholar 

  9. Bahari M S, Jaffar A, Low C Y, Jaafar R, Roese K, Yussof H. Design and development of a multifingered prosthetic hand. International Journal of Social Robotics, 2012, 4, 59–66.

    Article  Google Scholar 

  10. Azidehak A, Hoshyari M, Sharbafi M A. Design and implementation of minimal components brushless DC motor driver for mobile robots. Proceedings of IEEE International Conference on Mechatronics (ICM), Istanbul, Turkey, 2011, 642–647.

    Google Scholar 

  11. Chen C Y, Lim K C, Li T H S. Design and implementation of intelligent driving controller for car-like mobile robot. Proceedings of IEEE International Conference on System Science and Engineering (ICSSE), Taipei, China, 2010, 463–468.

    Google Scholar 

  12. Kim D U, Hwang S W, Kang H J, Hong D S. Kinematic analysis of a humanoid robot CHP-1 and selection of motors in consideration of cooperative motion. Journal of Central South University of Technology, 2011, 18, 627–632.

    Article  Google Scholar 

  13. Książek M A, Łacny Ł. A comparison of the human body-seat model responses to several types of impulse excitations. Journal of Theoretical and Applied Mechanics, 2014, 52, 839–845.

    Google Scholar 

  14. Liebschner M A, Chun K, Kim N, Ehni B. In vitro biomechanical evaluation of single impulse and repetitive mechanical shockwave devices utilized for spinal manipulative therapy. Annals of Biomedical Engineering, 2014, 42, 2524–2536.

    Article  Google Scholar 

  15. Wang Y L, Jin Z L. Dynamics modeling and robust trajectory tracking control for a class of hybrid humanoid arm based on neural network. Chinese Journal of Mechanical Engineering, 2009, 22, 355–363.

    Article  Google Scholar 

  16. Tee K P, Yan R, Chua Y, Huang Z, Li H. Modular IK: A robust inverse kinematic algorithm for gesture imitation in upper-body humanoid robot. International Journal of Humanoid Robotics, 2012, 9, 1250010.

    Article  Google Scholar 

  17. Figueroa N B, Schmidt F, Ali H, Mavridis N. Joint origin identification of articulated robots with marker-based multi-camera optical tracking systems. Robotics and Autonomous Systems, 2013, 61, 580–592.

    Article  Google Scholar 

  18. Paine N, Mehling J S, Holley J, Radford N A, Johnson G, Fok C L, Sentis L. Actuator control for the NASA-JSC valkyrie humanoid robot: A decoupled dynamics approach for torque control of series elastic robots. Journal of Field Robotics, 2015, 32, 378–396.

    Article  Google Scholar 

  19. Gonçalves V M, Fraisse P, Crosnier A, Adorno B V. Parsimonious kinematic control of highly redundant robots. IEEE Robotics and Automation Letters, 2016, 1, 65–72.

    Article  Google Scholar 

  20. Qiu J, Wei Y, Karimi H R. New approach to delay- dependent H8 control for continuous-time Markovian jump systems with time-varying delay and deficient transition descriptions. Journal of the Franklin Institute, 2015, 352, 189–215.

    Article  MathSciNet  MATH  Google Scholar 

  21. Qiu J, Gao H, Ding S X. Recent advances on fuzzymodel- based nonlinear networked control systems: A survey. IEEE Transactions on Industrial Electronics, 2016, 63, 1207–1217.

    Article  Google Scholar 

  22. He J, Luo M Z, Zhang Q Q, Zhao J H, Xu L S. Adaptive fuzzy sliding mode controller with nonlinear observer for redundant manipulators handling varying external force. Journal of Bionic Engineering, 2016, 13, 600–611.

    Article  Google Scholar 

  23. He W, Chen Y, Yin Z. Adaptive neural network control of an uncertain robot with full-state constraints. IEEE Transactions on Cybernetics, 2016, 46, 620–629.

    Article  Google Scholar 

  24. He W, Dong Y, Sun C. Adaptive neural impedance control of a robotic manipulator with input saturation. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2016, 46, 334–344.

    Article  Google Scholar 

  25. He W, Ouyang Y, Hong J. Vibration control of a flexible robotic manipulator in the presence of input dead zone. IEEE Transactions on Industrial Informatics, 2017, 13, 48–59.

    Article  Google Scholar 

  26. He W, Dong Y. Adaptive fuzzy neural network control for a constrained robot using impedance learning. IEEE Transactions on Neural Networks and Learning Systems, 2017, 99, 1–13.

    Article  Google Scholar 

  27. Gan Y, Dai X. Human-like manipulation planning for articulated manipulator. Journal of Bionic Engineering, 2012, 9, 434–445.

    Article  Google Scholar 

  28. He W, Ge W, Li Y, Liu Y J, Yang C, Sun C. Model identification and control design for a humanoid robot. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017, 47, 45–57.

    Article  Google Scholar 

  29. Dai J, Ludois D C. Single active switch power electronics for kilowatt scale capacitive power transfer. IEEE Journal of Emerging and Selected Topics in Power Electronics, 2015, 3, 315–323.

    Article  Google Scholar 

  30. Subramanian V, Manimaran S. Design of parallel-operated SEPIC converters using coupled inductor for load-sharing. Journal of Power Electronics, 2015, 15, 327–337.

    Article  Google Scholar 

  31. Bai K Q, Luo M Z, Liu M L, Jiang G W. Dynamics model and adaptive backstepping control on the 7-DOF manipulators of a humanoid robot. Proceedings of IEEE International Conference on Information and Automation, Ningbo, China, 2016, 1032–1038.

    Google Scholar 

Download references

Acknowledgment

This study was supported by the National Natural Science Foundation of China (grant no. 51405469) and the Project (Grant no. 17zx7157) of Scientific Research Foundation of Southwest University of Science and Technology.

Author information

Authors and Affiliations

  1. Southwest University of Science and Technology, Mianyang, 621010, China

    Keqiang Bai & Jue Wu

  2. Department of Automation, School of Information Science of Technology, University of Science and Technology of China, Hefei, 230026, China

    Keqiang Bai & Minzhou Luo

  3. Institute of Advanced Manufacturing and Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Changzhou, 213164, China

    Tao Li

Authors
  1. Keqiang Bai
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Minzhou Luo
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Tao Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jue Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Keqiang Bai or Jue Wu.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Bai, K., Luo, M., Li, T. et al. The impulse excitation joint servo drive design and adaptive backstepping control of humanoid robots. J Bionic Eng 15, 114–125 (2018). https://doi.org/10.1007/s42235-017-0009-1

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s42235-017-0009-1

Keywords

Search

Navigation