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Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H2/H control

Petrus Sutyasadi (Department of Mechatronics, Politeknik Mekatronika Sanata Dharma, Yogyakarta, Indonesia)
Manukid Parnichkun (Department of Mechatronics, Asian Institute of Technology, Bangkok, Thailand)

Industrial Robot

ISSN: 0143-991x

Article publication date: 11 March 2020

Issue publication date: 11 March 2020

155

Abstract

Purpose

The purpose of this paper is to introduce a quadruped robot strategy to avoid tipping down because of side impact disturbance and a control algorithm that guarantees the strategy can be controlled stably even in the presence of disturbances or model uncertainties.

Design/methodology/approach

A quadruped robot was developed. Trot gait is applied so the quadruped can be modelled as a compass biped model. The algorithm to find a correct stepping position after an impact was developed. A particle swarm optimization-based structure-specified mixed sensitivity (H2/H) robust is applied to reach the stepping position.

Findings

By measuring the angle and speed of the side tipping after an impact disturbance, a point location for the robot to step or the foothold recovery point (FRP) was successfully generated. The proposed particle swarm optimization-based structure-specified mixed sensitivity H2/H robust control also successfully brought the legs to the desired point.

Practical implications

A traditional H controller synthesis usually results in a very high order of controller. This makes implementation on an embedded controller very difficult. The proposed controller is just a second-order controller but it can handle the uncertainties and disturbances that arise and guarantee that FRP can be reached.

Originality/value

The first contribution is the proposed low-order robust H2/H controller so it is easy to be programmed on a small embedded system. The second is FRP, a stepping point for a quadruped robot after receiving side impact disturbance so the robot will not fall.

Keywords

Acknowledgements

The Authors would like to acknowledge the research funding support from Ministry of Research, Technology, and Higher Education of the Republic of Indonesia (Kemen-RISTEKDIKTI).

Citation

Sutyasadi, P. and Parnichkun, M. (2020), "Push recovery control of quadruped robot using particle swarm optimization based structure specified mixed sensitivity H2/H control", Industrial Robot, Vol. 47 No. 3, pp. 423-434. https://doi.org/10.1108/IR-06-2019-0135

Publisher

:

Emerald Publishing Limited

Copyright © 2020, Emerald Publishing Limited

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