Velocity regulation of 3D bipedal walking robots with uncertain dynamics through adaptive neural network controller

Castillo，Guillermo A.1; Weng，Bowen1; Stewart，Terrence C.2; Zhang，Wei3; Hereid，Ayonga4

10.1109/IROS45743.2020.9341569

2020-10-24

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

2153-0866

978-1-7281-6213-3

IEEE International Conference on Intelligent Robots and Systems

7703-7709

OCT 24-JAN 24, 2020-2021

null,null,ELECTR NETWORK

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the implementation of heuristic regulators that do not consider model and environmental uncertainties, which may significantly affect the tracking performance of the controllers. In this paper, we address the uncertainties in the robot dynamics from the perspective of the reduced dimensional representation of virtual constraints and propose the integration of an adaptive neural network-based controller to regulate the robot velocity in the presence of model parameter uncertainties. The proposed approach yields improved tracking performance under dynamics uncertainties. The shallow adaptive neural network used in this paper does not require training a priori and has the potential to be implemented on the real-time robotic controller. A comparative simulation study of a 3D Cassie robot is presented to illustrate the performance of the proposed approach under various scenarios.

Legged locomotion Adaptation models Adaptive systems Uncertainty Three-dimensional displays Neural networks Robots

其他

英语

EI ; CPCI-S

National Science Foundation[CNS-1552838]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:000724145802014

20211110063599

Adaptive control systems ; Agricultural robots ; Biped locomotion ; Controllers ; Dynamics ; Educational robots ; Feedback control ; Intelligent robots ; Velocity ; Virtual addresses

Biomechanics, Bionics and Biomimetics:461.3 ; Data Storage, Equipment and Techniques:722.1 ; Control Systems:731.1 ; Robot Applications:731.6 ; Control Equipment:732.1

2-s2.0-85102414036

Scopus

1.Ohio State University,Electrical and Computer Engineering,Columbus,United States
2.University of Waterloo Collaboration Centre,National Research Council of Canada,Waterloo,Canada
3.Southern University of Science and Technology (SUSTech),SUSTech Institute of Robotics,China
4.Mechanical and Aerospace Engineering,Ohio State University,Columbus,United States

Castillo，Guillermo A.,Weng，Bowen,Stewart，Terrence C.,et al. Velocity regulation of 3D bipedal walking robots with uncertain dynamics through adaptive neural network controller[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2020:7703-7709.