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Constrained Multilegged Robot System Modeling and Fuzzy Control With Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization
Abstract
This paper studies the optimal distribution of feet forces and control of multilegged robots with uncertainties in both kinematics and dynamics. First, a constrained dynamics for multilegged robots and the constrained environment model are established by considering both kinematic and dynamic uncertainties. Under an external wrench for multilegged robots, the foot forces and moments of the supporting legs can be formulated as quadratic programming problems subject to linear and nonlinear constraints. The neurodynamics of recurrent neural network is developed for foot force optimization. For the obtained optimized tip-point force and the motion of legs, we propose a hybrid task-space trajectory and force tracking based on fuzzy system and adaptive mechanism that are used to compensate for the external perturbation, kinematics, and dynamics uncertainties. The tracking of task-space trajectory and constraint force is achieved under unknown dynamical parameters, constraints, and disturbances. Extensive simulations have been provided to verify the effectiveness of the proposed scheme.
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Cited by
Liu, Y.-J., Li, J., Tong, S., & Chen, C. L. P. (2016) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2015.2508926 · Cited by 517
Adaptive Neural Network Control of a Robotic Manipulator With Time-Varying Output Constraints
He, W., Huang, H., & Ge, S. S. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2711961 · Cited by 361
Self-citationKou, G., Yang, P., Peng, Y., Xiao, F., Chen, Y., & Alsaadi, F. E. (2020) · Applied Soft Computing · doi:10.1016/j.asoc.2019.105836 · Cited by 357
Adaptive Impedance Control for an Upper Limb Robotic Exoskeleton Using Biological Signals
Li, Z., Huang, Z., He, W., & Su, C.-Y. (2017) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2016.2538741 · Cited by 323
Self-citationAdaptive Controller Design-Based ABLF for a Class of Nonlinear Time-Varying State Constraint Systems
Liu, Y.-J., Lu, S., Li, D., & Tong, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2633007 · Cited by 284
Metadata
- Authors
- Li, Z., Xiao, S., Ge, S. S., & Su, H.
- Venue
- IEEE Transactions on Systems, Man, and Cybernetics: Systems
- Published
- 2016-01
- Volume
- 46
- Issue
- 1
- Pages
- 1-15
- ISSN
- 2168-2216 (ISSN-L)
- 2168-2232
- OpenAlex
- W2203022174
- Cited by
- 199
- References
- 0
- FWCI
- 17.30
- Type
- journal article
- Language
- en
- Open access
- closed
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- The paper
- Li, Z., Xiao, S., Ge, S. S., & Su, H. (2016). Constrained Multilegged Robot System Modeling and Fuzzy Control With Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization. IEEE Transactions on Systems, Man, and Cybernetics: Systems. https://doi.org/10.1109/tsmc.2015.2422267
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
