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Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances

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Abstract

During bipedal walking, it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors. The radical basis function (RBF) neural network model of a five-link biped robot is established, and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincaré map. In contrast with the simulations, the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving. Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints, the response errors of the biped will be increasing with higher disturbance levels, and especially there are larger output fluctuations in the knee and hip joints of the swing leg.

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Abbreviations

ie :

The relative angle number of robot configuration just as expressed in Fig. 1

je :

The sample number for the Monte Carlo experiment of a combination, e.g., je = 1, 2, ⋯, 32

ne :

The maximum value of variable je

ke :

The ke-th walking step in an experiment, e.g., ke = 1, 2, ⋯, 6 in thiswork

me :

The maximum value of variable ke

ce :

The number of disturbance combination, e.g., ce = 1, 2, ⋯, 24 in this study

se :

The maximum value of variable ce

ae :

Actual value of the marked variable in the experiment

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Authors and Affiliations

  1. The State Key Laboratory of Fluid Power Transmission and Control, Department of Mechanical Engineering, Zhejiang University, 310027, Hangzhou, China

    Chun-Biao Gan, Chang-Tao Ding & Shi-Xi Yang

Authors
  1. Chun-Biao Gan
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  2. Chang-Tao Ding
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  3. Shi-Xi Yang
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Corresponding author

Correspondence to Chun-Biao Gan.

Additional information

The project was supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of China (51221004), the National Natural Science Foundation of China (11172260, 11372270, and 51375434), the Higher School Specialized Research Fund for the Doctoral Program (20110101110016), the Science and technology project of Zhejiang Province (2013C31086), and the Fundamental Research Funds for the Central Universities of China (2013XZZX005).

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Gan, CB., Ding, CT. & Yang, SX. Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances. Acta Mech Sin 30, 983–994 (2014). https://doi.org/10.1007/s10409-014-0074-1

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  • DOI: https://doi.org/10.1007/s10409-014-0074-1

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