A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control
At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) is used to track a robot’s center o...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/8/1/126 |
| _version_ | 1797613287167229952 |
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| author | Zhen Wang Lei Kou Wende Ke Yuhan Chen Yan Bai Qingfeng Li Dongxin Lu |
| author_facet | Zhen Wang Lei Kou Wende Ke Yuhan Chen Yan Bai Qingfeng Li Dongxin Lu |
| author_sort | Zhen Wang |
| collection | DOAJ |
| description | At present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) is used to track a robot’s center of mass (COM). At the same time, the whole-body-control method and value function generated in the process of tracking COM are used to construct the quadratic programming (QP) model of a biped robot. Through the above method, the torque feedforward of the robot is obtained in the Drake simulation platform. The torque feedforward information of the robot is transformed into position feedforward information by spring compensation. In this paper, open loop control and spring compensation are used, respectively, to make the robot perform simple actions. Generally, after the compensation method of spring compensation is adopted, the roll angle and pitch angle of the upper body of the robot are closer to 0 after the robot performs an action. However, as the selected motion can introduce more forward and lateral motions, the robot needs more spring clearance compensation to improve performance. For improving the motion performance of a low-cost biped robot, the experimental results show that the spring compensation method is both reasonable and effective. |
| first_indexed | 2024-03-11T06:52:45Z |
| format | Article |
| id | doaj.art-9b734f0322aa4639a809815c14a085b0 |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T06:52:45Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-9b734f0322aa4639a809815c14a085b02023-11-17T09:50:41ZengMDPI AGBiomimetics2313-76732023-03-018112610.3390/biomimetics8010126A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body ControlZhen Wang0Lei Kou1Wende Ke2Yuhan Chen3Yan Bai4Qingfeng Li5Dongxin Lu6Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, ChinaInstitute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), Qingdao 266075, ChinaDepartment of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, ChinaDepartment of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, ChinaDepartment of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, ChinaHealth Management System Engineering Center, School of Public Health, Hangzhou Normal University, Hangzhou 311121, ChinaHealth Management System Engineering Center, School of Public Health, Hangzhou Normal University, Hangzhou 311121, ChinaAt present, the research and application of biped robots is more and more popular. The popularity of biped robots can be better promoted by improving the motion performance of low-cost biped robots. In this paper, the method of the Linear Quadratic Regulator (LQR) is used to track a robot’s center of mass (COM). At the same time, the whole-body-control method and value function generated in the process of tracking COM are used to construct the quadratic programming (QP) model of a biped robot. Through the above method, the torque feedforward of the robot is obtained in the Drake simulation platform. The torque feedforward information of the robot is transformed into position feedforward information by spring compensation. In this paper, open loop control and spring compensation are used, respectively, to make the robot perform simple actions. Generally, after the compensation method of spring compensation is adopted, the roll angle and pitch angle of the upper body of the robot are closer to 0 after the robot performs an action. However, as the selected motion can introduce more forward and lateral motions, the robot needs more spring clearance compensation to improve performance. For improving the motion performance of a low-cost biped robot, the experimental results show that the spring compensation method is both reasonable and effective.https://www.mdpi.com/2313-7673/8/1/126spring compensationlinear quadratic regulatorwhole body controlspring clearance compensation |
| spellingShingle | Zhen Wang Lei Kou Wende Ke Yuhan Chen Yan Bai Qingfeng Li Dongxin Lu A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control Biomimetics spring compensation linear quadratic regulator whole body control spring clearance compensation |
| title | A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control |
| title_full | A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control |
| title_fullStr | A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control |
| title_full_unstemmed | A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control |
| title_short | A Spring Compensation Method for a Low-Cost Biped Robot Based on Whole Body Control |
| title_sort | spring compensation method for a low cost biped robot based on whole body control |
| topic | spring compensation linear quadratic regulator whole body control spring clearance compensation |
| url | https://www.mdpi.com/2313-7673/8/1/126 |
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