A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic ma...A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control accuracy.In this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is applied.The hardware experimental system is established.Through the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance.展开更多
An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line p...An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part andthe on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step re-sponse as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters K*p , Ti* ,and Tj are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-linepart, based on K; , Ti* , and T*d and according to the current system error e and its time derivative, a dedicatedprogram is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mech-anism to ensure that the system response has optimal dynamic and steady-state performance. The controller has beenused to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computersimulation shows that this kind of optimal PID controller has excellent control performance and robust performance.展开更多
Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by ...Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by PAMs.A 3-DOF musculoskeletal bionic leg mechanism is presented,which is driven by PAMs for quadruped robots.PAM is used to simulate the compliance of biological muscle.The kinematics of the leg swing is derived,and the foot desired trajectory is planned as the sinusoidal functions.The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints.A proportional integral derivative(PID) algorithm is presented for controlling the flexion/extension of the joint.The trajectory tracking results of joints and the PAM gas pressure are obtained.Experimental results show that the developed leg mechanism exhibits good biological properties.展开更多
This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based...This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51405229)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20151470)
文摘A bionic flexible manipulator driven by pneumatic muscle actuator(PMA)can better reflect the flexibility of the mechanism.Current research on PMA mainly focuses on the modeling and control strategy of the pneumatic manipulator system.Compared with traditional electro-hydraulic actuators,the structure of PMA is simple but possesses strong nonlinearity and flexibility,which leads to the difficulty in improving the control accuracy.In this paper,the configuration design of a bionic flexible manipulator is performed by human physiological map,the kinematic model of the mechanism is established,and the dynamics is analyzed by Lagrange method.A fuzzy torque control algorithm is designed based on the computed torque method,where the fuzzy control theory is applied.The hardware experimental system is established.Through the co-simulation contrast test on MATLAB and ADAMS,it is found that the fuzzy torque control algorithm has better tracking performance and higher tracking accuracy than the computed torque method,and is applied to the entity control test.The experimental results show that the fuzzy torque algorithm can better control the trajectory tracking movement of the bionic flexible manipulator.This research proposes a fuzzy torque control algorithm which can compensate the error more effectively,and possesses the preferred trajectory tracking performance.
基金Project (50275150) supported by the National Natural Science Foundation of ChinaProject (RL200002) supported by the Foundation of the Robotics Laboratory, Chinese Academy of Sciences
文摘An optimal PID controller with incomplete derivation is proposed based on fuzzy inference and the geneticalgorithm, which is called the fuzzy-GA PID controller with incomplete derivation. It consists of the off-line part andthe on-line part. In the off-line part, by taking the overshoot, rise time, and settling time of system unit step re-sponse as the performance indexes and by using the genetic algorithm, a group of optimal PID parameters K*p , Ti* ,and Tj are obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-linepart, based on K; , Ti* , and T*d and according to the current system error e and its time derivative, a dedicatedprogram is written, which is used to optimize and adjust the PID parameters on line through a fuzzy inference mech-anism to ensure that the system response has optimal dynamic and steady-state performance. The controller has beenused to control the D. C. motor of the intelligent bionic artificial leg designed by the authors. The result of computersimulation shows that this kind of optimal PID controller has excellent control performance and robust performance.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘Pneumatic artificial muscles(PAMs) have properties similar to biological muscles,which are widely used in robotics as actuators.It is difficult to achieve high-precision position control for robotics system driven by PAMs.A 3-DOF musculoskeletal bionic leg mechanism is presented,which is driven by PAMs for quadruped robots.PAM is used to simulate the compliance of biological muscle.The kinematics of the leg swing is derived,and the foot desired trajectory is planned as the sinusoidal functions.The swing experiments of the musculoskeletal leg mechanism are conducted to analyse the extension and flexion of joints.A proportional integral derivative(PID) algorithm is presented for controlling the flexion/extension of the joint.The trajectory tracking results of joints and the PAM gas pressure are obtained.Experimental results show that the developed leg mechanism exhibits good biological properties.
基金This work was supported by the Touyan Innovation Program of Heilongjiang Province.
文摘This paper presents a novel control approach for achieving robust posture control in legged locomotion,specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization.The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments,which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point(VPP)during the stance phase.Using the hybrid averaging theorem,we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed.Additionally,we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding.We evaluate the effectiveness of the proposed VPP-based controllers through various simulations,demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding.The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot,SCIT Dog,for stable bounding motion generation at different forward speeds.
