NONLINEAR ADAPTIVE CONTROL OF A 6 DOF BIPED ROBOT

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

KHAJEVANDI RAD EHSAN; VAHABI MEISAM

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2018 | Volume:18 | Issue:3 Page(s): 406-416

Download Full-Text

Persian Verion

View:

1,048

Download:

Cites:

Information Journal Paper

Title

NONLINEAR ADAPTIVE CONTROL OF A 6 DOF BIPED ROBOT

Author(s)

KHAJEVANDI RAD EHSAN | VAHABI MEISAM | Issue Writer Certificate

Keywords

BIPED ROBOTQ1

KINEMATICSQ2

DYNAMICSQ3

ADAPTIVE COMPUTED TORQUE CONTROLQ1

Abstract

This paper discussed nonlinear adaptive control of a 6 DOF BIPED ROBOT. The studied robot was divided to three part, fix leg, moving leg and a torso and all the joints were considered rotational. Generally, for calculations, robots are considered as a whole which makes the related calculations complex. For balance calculations, the zero moment point (ZMP) was either considered as a fix point on the ground or a moving point on the foot plate. In the presented robot in this study with priority of movements, first, the calculations were carried out on the moving foot, then the effect of the motion on the foot was inspected and a pendulum was used to balance the robot. To check the balance, ZMP in the simulation in MATLAB software was considered as a fix point While in Adams software simulation, ZMP was considered moving along the bottom of the sole. All the charts active with both software met each other. In the presented study the inverse KINEMATICS was calculated by trigonometric method and inverse DYNAMICS of each leg was investigated by Newton-Euler iterative method. All calculations were carried out in MATLAB software and were verified by ADAMS software. By writing the equilibrium equations, the angle of torso at each time was achieved. In the next step, because of uncertainties in manufacturing and some parameters like mass, length, etc. ADAPTIVE COMPUTED TORQUE CONTROL was used on each leg to achieve the maximum torque that each joint needs for stable walking.

Cites

No record.

References

No record.

Cite

APA: Copy

KHAJEVANDI RAD, EHSAN, & VAHABI, MEISAM. (2018). NONLINEAR ADAPTIVE CONTROL OF A 6 DOF BIPED ROBOT. MODARES MECHANICAL ENGINEERING, 18(3 ), 406-416. SID. https://sid.ir/paper/178947/en

Vancouver: Copy

KHAJEVANDI RAD EHSAN, VAHABI MEISAM. NONLINEAR ADAPTIVE CONTROL OF A 6 DOF BIPED ROBOT. MODARES MECHANICAL ENGINEERING[Internet]. 2018;18(3 ):406-416. Available from: https://sid.ir/paper/178947/en

IEEE: Copy

EHSAN KHAJEVANDI RAD, and MEISAM VAHABI, “NONLINEAR ADAPTIVE CONTROL OF A 6 DOF BIPED ROBOT,” MODARES MECHANICAL ENGINEERING, vol. 18, no. 3 , pp. 406–416, 2018, [Online]. Available: https://sid.ir/paper/178947/en

Related Journal Papers