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Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces

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Abstract

To realize the dynamic balance optimization and control of biped robots under the perturbing external forces in the double-support phase, a systematic scheme is proposed in this paper. First, a constrained dynamic model of biped robots and a reduced order dynamical model for the double-support phase are formulated. Considering the dynamic external wrench applied on biped robots, we present a dynamic force distribution approach based on quadratic objective function for computing the optimal contact forces to equilibrate the dynamic external wrench. As a result, the sum of the normal force components is minimized for enhancing safety and energy saving. Then, one primary recurrent neural network (RNN) is adopted to solve the optimization problem subject to both equality and inequality constraints. For the derived optimized contact force and motion, hybrid motion/force control is proposed based on another RNN to approximate unknown dynamic functions. Adaptive learning algorithms for learning the parameters of the RNN are provided as well. The proposed control can deal with the uncertainties including approximation errors and external disturbances. Extensive simulations are presented to demonstrate the effectiveness of the proposed optimization and control approach.

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Acknowledgments

The authors would like to appreciate the editors and the reviewers for the constructive comments and suggestions. This work is supported by the National Natural Science Foundation of China under Projects 61403264 and 61305098.

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Authors and Affiliations

  1. Department of Electronic Engineering, Shunde Polytechnic, Foshan, Guangdong, China

    Liyang Wang & Ming Chen

  2. College of Engineering, Peking University, Beijing, China

    Yongyong Ge

  3. School of Automation, Xi’an University of Posts and Telecommunications, Xi’an, 710121, China

    Yongqing Fan

Authors
  1. Liyang Wang
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  2. Yongyong Ge
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  3. Ming Chen
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  4. Yongqing Fan
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Correspondence to Liyang Wang.

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Wang, L., Ge, Y., Chen, M. et al. Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces. Neural Comput & Applic 28, 4123–4137 (2017). https://doi.org/10.1007/s00521-016-2316-6

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  • DOI: https://doi.org/10.1007/s00521-016-2316-6

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