On the controller implementation in the real underactuated walking robot model

0505797 - ÚTIA 2020 RIV JP eng C - Konferenční příspěvek (zahraniční konf.)
Anderle, Milan - Čelikovský, Sergej
On the controller implementation in the real underactuated walking robot model.
Proceedings of the 12th Asian Control Conference (ASCC 2019). Fukuoka: IEEE, 2019, s. 1125-1130, č. článku 0118. ISBN 978-4-88898-301-3.
[Asian Control Conference (ASCC 2019) /12./. Kitakyusyu International Conference Center (JP), 09.06.2019-12.06.2019]
Grant CEP: GA ČR(CZ) GA17-04682S
Institucionální podpora: RVO:67985556
Klíčová slova: Sensor fusion * Mechatronics * Control applications
Obor OECD: Robotics and automatic control

The purpose of this paper is the experimental validation of the sensor fusion designed for the possible future use in the walking-like mechanical systems design. The validation is made using the actuated leg being the part of the fourlink laboratory walking-like system and it is equipped with several sensors. The experiments aim to track the reference angular positions trajectory using the state feedback controller. The information needed by that feedback controller (angular positions, velocities and input currents of DC motors actuating rotary joints) is obtained from the sensors measurements. Two types of experiments are compared: (i) using these measurements directly, (ii) pre-processing them via the designed sensor fusion method. The fusion is based on the so-called low-level hybrid Extended Kalman Filter (HEKF) realization, which has the future potential to be implemented on the PCBs attached to the legs links only. Yet, the presented experimental results demonstrate the prevalence of the control using the fused data.
Trvalý link: http://hdl.handle.net/11104/0297185