2021/07/19 by Anh Khoa Lanh Luu, Van Tu Duong, Luu, Anh Khoa Lanh +7
Engineering · #FOS: Electrical engineering #Muscle activation and electromyography studies #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2107.08610
openalex publication_date 2021/07/19 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Although the application of Series elastic actuators (SEAs) in the\nbiomechatronic field has proved its appropriation in many aspects so far, the\nproblems of maintaining the stability for the SEAs still remains. This paper\nproposes a robust controller so that to overcome the drawbacks of the previous\nresearches. Firstly, a mathematical model considering both the SEAs and the hip\njoint of humanoid UXA-90 is obtained. Secondly, a reference input of the\nproposed controller that is achieved from desired hip joint's angle in a\nwalking cycle is utilized. Then, a backstepping based sliding mode force\ncontrol approach is employed to ensure the precise movement of robot's link as\nwell as meeting the requirement of robustness for the whole system, which is\nsignificant for the task of walking of a humanoid. Finally, some simulations\nare carried out to verify the quality and effectiveness of the proposed\ncontroller.\n