Optimal Preview Control of the Nao Biped Robot using a UKF-based State Observer

Ghaffari Jadidi, M; Hashemi, E

Optimal Preview Control of the Nao Biped Robot using a UKF-based State Observer

Ghaffari Jadidi, M

Hashemi, E

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016, pp. 52 - 57
Issue Date:: 2016

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Field	Value	Language
dc.contributor.author	Ghaffari Jadidi, M https://orcid.org/0000-0002-4734-4295	en_US
dc.contributor.author	Hashemi, E	en_US
dc.date	2016-07-12	en_US
dc.date.issued	2016	en_US
dc.identifier.citation	2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016, pp. 52 - 57	en_US
dc.identifier.isbn	978-1-5090-2065-2	en_US
dc.identifier.uri	http://hdl.handle.net/10453/92327
dc.description.abstract	In this paper, an optimal preview controller for the Nao biped robot is developed based on a three-dimensional linear inverted pendulum model and zero moment point stability criterion. In order to estimate the unmeasurable state vector, an unscented Kalman filter state observer is proposed which guarantees robustness of the control loop through loop transfer recovery and provides asymptotic stability of the error covariance. This approach necessitates developing and utilizing forward and inverse kinematic analysis. Inverse kinematic relations are employed within the controller as an estimator of joint angles given positions of the zero moment point and center of mass trajectories. The results show effectiveness of the proposed preview controller and the observer scheme to achieve a stable walk.	en_US
dc.publisher	IEEE	en_US
dc.relation.ispartof	2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)	en_US
dc.relation.ispartof	IEEE International Conference on Advanced Intelligent Mechatronics	en_US
dc.relation.isbasedon	10.1109/AIM.2016.7576742	en_US
dc.rights	© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.title	Optimal Preview Control of the Nao Biped Robot using a UKF-based State Observer	en_US
dc.type	Conference Proceeding
utslib.location	Piscataway, USA	en_US
utslib.location.activity	Banff, Alberta, Canada	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access
pubs.consider-herdc	true	en_US
pubs.finish-date	2016-07-15	en_US
pubs.place-of-publication	Piscataway, USA	en_US
pubs.publication-status	Published	en_US
pubs.start-date	2016-07-12	en_US

Abstract:

In this paper, an optimal preview controller for the Nao biped robot is developed based on a three-dimensional linear inverted pendulum model and zero moment point stability criterion. In order to estimate the unmeasurable state vector, an unscented Kalman filter state observer is proposed which guarantees robustness of the control loop through loop transfer recovery and provides asymptotic stability of the error covariance. This approach necessitates developing and utilizing forward and inverse kinematic analysis. Inverse kinematic relations are employed within the controller as an estimator of joint angles given positions of the zero moment point and center of mass trajectories. The results show effectiveness of the proposed preview controller and the observer scheme to achieve a stable walk.

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http://hdl.handle.net/10453/92327