Title :
Dynamic stability control for a bio-robot with primates-inspired active tail
Author :
Xiaoyun Li ; Zhihong Jiang ; Hui Li ; Yang Mo ; Mingjie Zou ; Qiang Huang
Author_Institution :
Key Lab. of Biomimetic Robots & Syst., Beijing Inst. of Technol., Beijing, China
Abstract :
Based on the detailed investigation and research of the balance mechanism of tail in primates, we designed a robot with a 3-DOF tail. By utilizing zero net angular momentum maneuvering, and implementing a dynamic feed-forward controller combining with a proportional-derivative controller for our tailed robot, it can self-right from the initial orientation, and avoid flipping over after a large perturbation.
Keywords :
PD control; angular momentum; control system synthesis; feedforward; mobile robots; perturbation techniques; robot dynamics; robust control; 3-DOF tail; balance mechanism; bio-robot; dynamic feedforward controller; dynamic stability control; flipping avoidance; net angular momentum maneuvering; perturbation; primate-inspired active tail; proportional-derivative controller; robot design; Animals; Atmospheric modeling; Force; Legged locomotion; Mathematical model; PD control; dynamic stabilization; primates; robot; tail;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237799
