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Torque control of a wheeled humanoid robot with dual redundant arms
Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering. 2024. Vol. 238. No. 2. P. 252–271.
Most of conventional controllers are prone to consume more computational time for controlling a wheeled humanoid robot. A nonlinear trajectory control of a wheeled humanoid robot using a model-based controller with less computational load and energy consumption is presented in this article. The upper body of the humanoid robot consists of two 6 degrees of freedom redundant arms, a three degrees of freedom torso and a two degrees of freedom neck. The nonholonomic mobile platform consists of two actuated wheels and two caster wheels. Nonlinearity of the robot dynamic model and coupling between various branches of the upper body are taken into account. The dynamic model derived using Newton–Euler approach along with decoupled Natural Orthogonal Complement matrix approach is used to derive dynamic equations of the upper body and the wheeled platform. Zero moment point based stability approach is used for verifying stable motion of the wheeled humanoid robot with minimum energy and time consumption to complete a task. The proposed computed torque controller is compared with other similar controllers developed for the same robot model to prove advantages of the proposed torque controller. Simulation results are experimentally validated with the real robot.
Language:
English
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On behalf of the Organizing Committee, it is my great pleasure to extend a warm
welcome to all participants of the Fourth International IEEE Conference on
Distributed Computing and High-Performance Computing (DCHPC 2026), held
in Tehran from May 10–11, 2026. This conference is jointly organized by the
School of Computer Science at the Institute for Research in Fundamental
Sciences (IPM) ...
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Added: July 30, 2017