Abstract
The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner has established the correct trajectory to follow, is necessary to track it with the least possible error. This important task is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused on proposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and reject disturbances present in the closed-loop system. We also present the dynamic model of the limb, the designed reference trajectories, control simulations and experimental results.
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Recommended by Associate Editor Juhoon Back under the direction of Editor Fuchun Sun. This work was supported by Instituto Politécnico Nacional de México, CONACyT de México and Instituto de Investigación y Desarrollo Tecnológico de la Armada de México. The authors would like to thank the Instituto Politécnico Nacional de México, Instituto de Investigación y Desarrollo Tecnológico de la Armada de México, and CONACyT de México for funding this project.
Edwards Sánchez received a Master of Science degree in Electronics Engineering from Escuela Superior de Ingeniería Mecánica y Eléctrica in 2015. His research interests include nonlinear control and visual servoing.
Alberto Luviano was born in Mexico City, Mexico, in 1981. He received his B.S. degree in mechatronics engineering from the Instituto Politécnico Nacional, Mexico, in 2003, an M.Sc. degree in automatic control from the Department of Automatic Control, Centro de Investigación y de Estudios Avanzados (CINVESTAV), Instituto Politécnico Nacional (IPN), in 2006, and a Ph.D. degree in electrical engineering from the Mechatronics section, Departament of Electrical Engineering at CINVESTAV, IPN, in 2011.
Alberto Rosales received his Ph.D. degree in Communications and Electronics (2008), Master of Science in Telecommunications Engineering (2004) and Engineer Communications and Electronics (1999) by ESIME-Instituto Politécnico Nacional de México. Topics currently being developed are: image processing, multispectral and multichannel video in real time, visual computing, as well as medical image processing.
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Sánchez, E., Luviano, A. & Rosales, A. A robust GPI controller for trajectory tracking tasks in the limbs of a walking robot. Int. J. Control Autom. Syst. 15, 2786–2795 (2017). https://doi.org/10.1007/s12555-015-0387-2
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DOI: https://doi.org/10.1007/s12555-015-0387-2