Towards Robust Wheel-Legged Biped Robot System: Combining Feedforward and Feedback Control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper discusses the combination of model-based feedforward and feedback controller for the hybrid wheel-legged robot. Uncertainties in the modeling parameters such as friction coefficients, inertia matrices, and position of CoM can bring negative effects in the performance of model-based motion controllers. The ability of a control system to compensate for unforeseen circumstances is not only utilitarian but essential if one wishes to bring the robotic systems into the real world. To develop such a robust motion controller for the wheeled biped robot, we present the design and implementation of a nonlinear feedforward controller together with linearized feedback LQR to control the robot on a flat surface. This study investigates the controller performance: feedback, feedforward, and the combined in simulations and also with the real wheel-legged robot. Furthermore, the Extended Kalman Filter (EKF) is implemented to estimate the system states and reduce the sensor noise of the real robot.

Original languageEnglish
Title of host publication2021 IEEE/SICE International Symposium on System Integration, SII 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages606-612
Number of pages7
ISBN (Electronic)9781728176581
DOIs
Publication statusPublished - 2021 Jan 11
Event2021 IEEE/SICE International Symposium on System Integration, SII 2021 - Virtual, Iwaki, Fukushima, Japan
Duration: 2021 Jan 112021 Jan 14

Publication series

Name2021 IEEE/SICE International Symposium on System Integration, SII 2021

Conference

Conference2021 IEEE/SICE International Symposium on System Integration, SII 2021
Country/TerritoryJapan
CityVirtual, Iwaki, Fukushima
Period21/1/1121/1/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Information Systems and Management
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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