| Download | - View author's version: Velocity regulation of 3D bipedal walking robots with uncertain dynamics through adaptive neural network controller (PDF, 1.5 MiB)
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| DOI | Resolve DOI: https://doi.org/10.1109/IROS45743.2020.9341569 |
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| Author | Search for: Castillo, Guillermo A.; Search for: Weng, Bowen; Search for: Stewart, Terrence C.1; Search for: Zhang, Wei; Search for: Hereid, Ayonga |
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| Affiliation | - National Research Council of Canada. Digital Technologies
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| Format | Text, Article |
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| Conference | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 25-29, 2020, Las Vegas, NV, USA |
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| Subject | legged locomotion; adaptation models; adaptive systems; uncertainty; three-dimensional displays; neural networks; robots |
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| Abstract | This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the implementation of heuristic regulators that do not consider model and environmental uncertainties, which may significantly affect the tracking performance of the controllers. In this paper, we address the uncertainties in the robot dynamics from the perspective of the reduced dimensional representation of virtual constraints and propose the integration of an adaptive neural network-based controller to regulate the robot velocity in the presence of model parameter uncertainties. The proposed approach yields improved tracking performance under dynamics uncertainties. The shallow adaptive neural network used in this paper does not require training a priori and has the potential to be implemented on the real-time robotic controller. A comparative simulation study of a 3D Cassie robot is presented to illustrate the performance of the proposed approach under various scenarios. |
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| Publication date | 2021-02-10 |
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| Publisher | IEEE |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | e4c5d19d-9e73-45bd-af00-b945c244ed09 |
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| Record created | 2021-07-15 |
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| Record modified | 2021-07-16 |
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