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Keynote
Lecture
Dynamical Stability Control for the
Compliant Walking Robots
![](Vladareanu.jpg)
Professor Luige Vladareanu
Romanian Academy, Institute of Solid Mechanics
Bucharest, ROMANIA
E-mail:
luigiv@imsar.bu.edu.ro
Abstract:
The walking robots motion control is included in the
category of systems with a high degree of automation.
The mechanical system must be equipped with a large
number of degrees of mobility (DOF), in order to form
complex synergies and to achieve coordinated movement of
the legs. The action of such disturbances like an
additional load, changes in weight, position of center
of gravity and the robot platform inertial moments and
may be a cause of significant deviations from the robot
prescribed motion. A number of compliant control
techniques are known for obtaining high performance in
robot trajectory control, some of which include a
dynamic model in the control loop: solved acceleration
loop (Luh, Walker and Paul), operational space method
(Khatib), impedance control (Hogan, Kazerooni, Sheridan)
and other which do not include dynamic models: hybrid
control (Railbert si Craig) and rigidity control
(Salisbury). In order to increase mobility and stability
in real conditions and to obtain superior results
relating to the possibility of moving walking robots on
terrains with close configuration to real situations
such as slope walking, overtaking or avoiding obstacles,
the paper presents research regarding the integration of
compliant control and fuzzy control into the hybrid
position force control system architecture for hexapod
walking robots. Stability analyses and experimental
implementations have shown not only that using dynamic
models leads to a more precise control, but also that
using an inadequate dynamic model can sometimes lead to
unstable force control. A dynamic position-force control
system is presented by integrating the multi-stage fuzzy
method with solved acceleration in position-force
control and dynamic control loops through the ZMP
method. It is also noted that in addition to hybrid
position-force control, three other main tasks are
added, resulting from the analysis of the robot's
walking cycle, conforming to movement characteristics:
real time balance control, walking scheme control and
predictable control of the walking robot movement. The
first main task, balance control, leads to a control
model that periodically modifies the walking scheme,
depending on the sensory information received from the
robot transducers. Real time balance control contains 4
types of reactive loops: damping control, ZMP
compensation control, walk timing control and walk
orientation control. The second main task, walking
scheme control, represents a real time control of the
robot equilibrium using the reactions of inertial
sensors. The walking control scheme can be changed
periodically in accordance with the information received
from the inertial sensors during the walking cycle, by
processing them into two real time loops: platform swing
amplitude control and platform rotation/advance control.
The third main task, predictable movement control,
represents the control of predictable movement based on
a fast decision from previous experimental data. The
results obtained shows that this allows the robot to
adapt to rough terrain through a real time control with
increased stability during walking. In the end, a
multi-microprocessor architecture is designed with
multi-tasking control that allows a fast feedback loop
for real time robot control, improving stability and
flexibility performance.
Brief Biography of the Speaker:
Luige Vladareanu received his M.Sc. degree in
electronics from the Polytechnic Institute Bucharest, in
1977. From 1984, scientific researcher of the Institute
of Physics and Material Technology, from 1990, team
leader of data acquisition systems and real time control
systems of the Institute of Solid Mechanics, from 1991,
President General Manager of Engineering and Technology
Industrial VTC Company. In 1998 he received Ph.D. degree
in electronics field from the Institute of Solid
Mechanics of Romanian Academy. From 2003, Ministry of
Education and Research, executive Department for
Financing Superior Education and of Scientific
University Research - High Level Expert Consulting for
MEC/CNCSIS project, from 2003-2005, member of
Engineering Science Committee of Romanian National
Research Council, from 2005, Scientific Researcher Gr.I
(Professor) of Romanian Academy, from 2009 Head of
Mechatronics Department of Institute of Solid Mechanics,
Romanian Academy. His scientific work is focused on real
time control in solid mechanics applied in robot
trajectory control, hybrid position – force control,
multi-microprocessor systems for robot control,
acquisition and processing of experimental physical
data, experimental methods and signal processing,
nano-micro manipulators, semi-active control of
mechanical system vibrations, semi-active control of
magnetorheological dissipaters systems, complex
industrial automations with programmable logical
controllers in distributed and decentralized structure.
He has published 4 books, over 20 book chapters, 11
edited books, over 200 papers in journals, proceedings
and conferences in the areas. Director and coordinator
of 7 grants of national research – development programs
in the last 5 years, 15 invention patents, developing 17
advanced work methods resulting from applicative
research activities and more then 60 research projects.
In 1985 the Central Institute of Physics Bucharest
awarded his research team a price for the first Romanian
industrial painting robot. He is the winner of the two
Prize and Gold of Excellence in Research 2000, SIR 2000,
of the Romanian Government and the Agency for Science,
Technology and Innovation. 9 International Invention and
Innovation Competition Awards and Gold of World's
Exhibition of Inventions, Geneva 2007 - 2009, and other
9 International Invention Awards and Gold of the
Brussels, Zagreb, Bucharest International Exhibition. He
received “Traian Vuia” (2006) award of the Romanian
Academy, Romania's highest scientific research forum,
for a group of scientific papers published in the real
time control in the solid mechanics. He is team leader
of two ANCS (Scientific Research National Agency) funded
research projects: “Fundamental and Applied Researches
for Position Control of HFPC MERO Walking Robots” from
CNCSIS-Exploratory Researches Program and “Complex
Modular Automation Systems for Technological Flux
Control AUTMPG” from AMCSIT-Innovation Program. He is a
member of the International Institute of Acoustics and
Vibration (IIAV), Auburn University, USA (2006), ABI/s
Research Board of Advisors, American Biographical
Institute (2006), World Scientific and Engineering
Academy Society, WSEAS (2005), International Association
for Modelling and Simulation Techniques in
Enterprises-AMSE, France (2004), National Research
Council from Romania(2003-2005), etc. He is a PhD
advisor in the field of mechanical engineering at the
Romanian Academy. He was an organizer of several
international conferences such as the General Chair of
four WSEAS International Conferences
(http://www.wseas.org/conferences/2008/romania/amta/index.html),
chaired Plenary Lectures to Houston 2009, Harvard,
Boston 2010 and Penang, Malaysia 2010 to the WSEAS
International Conferences, is team leader of WSEAS
scientific research project: Mechanics & Robotics
Systems and is serving on various other conferences and
academic societies.
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