NDLI: Fuzzy approximation adaptive control of quadruped robots with kinematics and dynamics uncertainties

Content Provider	IEEE Xplore Digital Library
Author	Zhijun Li Shengtao Xiao Shuzhi Sam Ge
Copyright Year	2014
Description	Author affiliation: Electr. & Comput. Eng. Dept., Nat. Univ. of Singapore, Singapore, Singapore (Shengtao Xiao; Shuzhi Sam Ge) \|\| Key Lab. of Autonomous Syst. & Network Control, South China Univ. of Technol., Guangzhou, China (Zhijun Li)
Abstract	This paper investigates optimal feet forces distribution and control of quadruped robots with uncertainties in both kinematics and dynamics. First, a constrained dynamics of quadruped robots is established. The distribution of required forces and moments on the supporting legs of a quadruped robot can be formulated as a problem for minimizing an objective function subject to form-closure constraints and balance constraints of external force. The dynamics of recurrent neural network for realtime force optimization are proposed. For the obtained optimized tip-point force and the motion of legs, we propose the hybrid motion/force control based on adaptive fuzzy system to compensate for the external perturbation and the task-space tracking errors in the environment. The proposed control can confront the uncertainties including approximation task space error and external perturbation. The verification of the proposed control is conducted using the extensive simulations.
Starting Page	701
Ending Page	706
File Size	1014624
Page Count	6
File Format	PDF
e-ISBN	9781479920723
DOI	10.1109/FUZZ-IEEE.2014.6891681
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Legged locomotion Dynamics Vectors Friction Jacobian matrices motion/force control quadruped robot forces distribution external wrench
Content Type	Text
Resource Type	Article

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