首页|Research from University of Baghdad Broadens Understanding of Robotics (Hierarch ical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control)
Research from University of Baghdad Broadens Understanding of Robotics (Hierarch ical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on robotics have been published. According to news reporting from Baghdad, Iraq, by NewsRx journ alists, research stated, "Bipedal robotic mechanisms are unstable due to the uni lateral contact passive joint between the sole and the ground. Hierarchical cont rol layers are crucial for creating walking patterns, stabilizing locomotion, an d ensuring correct angular trajectories for bipedal joints due to the system's v arious degrees of freedom." The news correspondents obtained a quote from the research from University of Ba ghdad: "This work provides a hierarchical control scheme for a bipedal robot tha t focuses on balance (stabilization) and low-level tracking control while consid ering flexible joints. The stabilization control method uses the Newton-Euler fo rmulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled d ynamic equations. Adaptive approximation-based feedback linearization control (s o-called adaptive computed torque control) combined with an anti-windup compensa tor is designed to track the desired COM produced by the highlevel command. Alo ng the length of the support sole, the ZMP with physical restrictions serves as the control input signal. The viability of the suggested controller is establish ed using Lyapunov's theory. The low-level control tracks the intended joint move ments for a bipedal mechanism with flexible joints."
University of BaghdadBaghdadIraqAs iaEmerging TechnologiesMachine LearningRobotRoboticsRobots
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