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Towards Robust Wheel-Legged Biped Robot System: Combining Feedforward and Feedback Control

Towards Robust Wheel-Legged Biped Robot System: Combining Feedforward and Feedback Control, IEEE/SICE International Symposium on System Integration, Jan 2021, F. Raza, M. Hayashibe (SII2021) (Finalist for Best Student Paper Award)
This paper discusses the combination of the model-based feedforward and feedback controller for the hybrid wheel-legged robot. Uncertainties in the modeling parameters such as friction coefficients, inertia matrices, and position of CoM can bring negative effects in the performance of model-based controllers. The ability of a control system to compensate for unforeseen circumstances is not only utilitarian but essential if one wishes to bring the robotic systems into the real world. To develop such a robust motion controller for the wheeled biped robot, we present the design and implementation of nonlinear feedforward controller together with linearized feedback LQR to control the robot on the flat surface. This paper investigates the controller performance: feedback, feedforward, and the combined with simulation and also with real wheel-legged robot. Furthermore, Extended Kalman Filter (EKF) is used to estimate the states and reduce the sensor noise of the real robot.

Видео Towards Robust Wheel-Legged Biped Robot System: Combining Feedforward and Feedback Control канала Neuro-Robotics Lab
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12 марта 2021 г. 9:46:17
00:15:00
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