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STS motion control using humanoid robot

This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion...

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Main Authors: Bahar, Mohd Bazli, Miskon, Muhammad Fahmi, Abu Bakar, Norazhar, Ali @ Ibrahim, Fariz, Shukor, Ahmad Zaki
Format: Article
Language:English
Published: Maxwell Scientific Publications 2014
Online Access:http://eprints.utem.edu.my/id/eprint/19257/2/2.3.7%20STS%20Motion%20Control%20Using%20Humanoid%20Robot.pdf
http://eprints.utem.edu.my/id/eprint/19257/
http://maxwellsci.com/jp/mspabstract.php?doi=rjaset.8.945
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spelling my.utem.eprints.192572023-07-03T14:53:48Z http://eprints.utem.edu.my/id/eprint/19257/ STS motion control using humanoid robot Bahar, Mohd Bazli Miskon, Muhammad Fahmi Abu Bakar, Norazhar Ali @ Ibrahim, Fariz Shukor, Ahmad Zaki This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion control. These components should be designed so that the Zero Moment Point (ZMP), Centre of Pressure (CoP) and Centre of Mass (CoM) is always in the support polygon. Basically, in STS motion control there are two components, 1. Action selector and 2. Tracking controller. The STS motion control should able to operate in real time and continuously able to adapt any change in between the motion. In this way, the accuracy of the controller to rectify the motion error shall increase. The overall proposed method to perform the STS motion is designed to have two main phases. (1) CoM transferring that implements Alexander STS technique and (2) Stabilization Strategy that used IF-THEN rules and proportional velocity controller. This study focuses on the presentation of the development of second phase which are 1. The development of the IF-THEN rules as the action selector that operates in real time to assists the proportional controller in making the best decision and, 2. The development of Proportional Gain Identification for the proportional velocity controller that is capable to change the gain implementation by referring to the define region that represent the motion condition. The validation of the proposed method is done experimentally using NAO robot as the test platform. The coefficient of the gain identification for the proportional controller was tuned using NAO robot that was initially set at sitting position on a wooden chair. The inclination of the body from a frame perpendicular with the ground, angle y is observed. Coefficient that gives the lowest RMSE of angle y trajectory is taken as a constant. Results show the proposed control method has reduce the (Root Mean Square Error) RMSE of the motion from 6.6858° when all coefficient is set as the same to 4.0089° after the coefficient at all defined region have been identified Maxwell Scientific Publications 2014 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/19257/2/2.3.7%20STS%20Motion%20Control%20Using%20Humanoid%20Robot.pdf Bahar, Mohd Bazli and Miskon, Muhammad Fahmi and Abu Bakar, Norazhar and Ali @ Ibrahim, Fariz and Shukor, Ahmad Zaki (2014) STS motion control using humanoid robot. Research Journal of Applied Sciences, Engineering and Technology, 8 (1). pp. 95-108. ISSN 2040-7459 http://maxwellsci.com/jp/mspabstract.php?doi=rjaset.8.945
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description This study presents the development of Sit to Stand (STS) motion control method. The main challenge in STS is in addressing the lift-off from chair problem. In solving the problem, the main components of the humanoid STS motion system involved are the (1) phase and trajectory planning and (2) motion control. These components should be designed so that the Zero Moment Point (ZMP), Centre of Pressure (CoP) and Centre of Mass (CoM) is always in the support polygon. Basically, in STS motion control there are two components, 1. Action selector and 2. Tracking controller. The STS motion control should able to operate in real time and continuously able to adapt any change in between the motion. In this way, the accuracy of the controller to rectify the motion error shall increase. The overall proposed method to perform the STS motion is designed to have two main phases. (1) CoM transferring that implements Alexander STS technique and (2) Stabilization Strategy that used IF-THEN rules and proportional velocity controller. This study focuses on the presentation of the development of second phase which are 1. The development of the IF-THEN rules as the action selector that operates in real time to assists the proportional controller in making the best decision and, 2. The development of Proportional Gain Identification for the proportional velocity controller that is capable to change the gain implementation by referring to the define region that represent the motion condition. The validation of the proposed method is done experimentally using NAO robot as the test platform. The coefficient of the gain identification for the proportional controller was tuned using NAO robot that was initially set at sitting position on a wooden chair. The inclination of the body from a frame perpendicular with the ground, angle y is observed. Coefficient that gives the lowest RMSE of angle y trajectory is taken as a constant. Results show the proposed control method has reduce the (Root Mean Square Error) RMSE of the motion from 6.6858° when all coefficient is set as the same to 4.0089° after the coefficient at all defined region have been identified
format Article
author Bahar, Mohd Bazli
Miskon, Muhammad Fahmi
Abu Bakar, Norazhar
Ali @ Ibrahim, Fariz
Shukor, Ahmad Zaki
spellingShingle Bahar, Mohd Bazli
Miskon, Muhammad Fahmi
Abu Bakar, Norazhar
Ali @ Ibrahim, Fariz
Shukor, Ahmad Zaki
STS motion control using humanoid robot
author_facet Bahar, Mohd Bazli
Miskon, Muhammad Fahmi
Abu Bakar, Norazhar
Ali @ Ibrahim, Fariz
Shukor, Ahmad Zaki
author_sort Bahar, Mohd Bazli
title STS motion control using humanoid robot
title_short STS motion control using humanoid robot
title_full STS motion control using humanoid robot
title_fullStr STS motion control using humanoid robot
title_full_unstemmed STS motion control using humanoid robot
title_sort sts motion control using humanoid robot
publisher Maxwell Scientific Publications
publishDate 2014
url http://eprints.utem.edu.my/id/eprint/19257/2/2.3.7%20STS%20Motion%20Control%20Using%20Humanoid%20Robot.pdf
http://eprints.utem.edu.my/id/eprint/19257/
http://maxwellsci.com/jp/mspabstract.php?doi=rjaset.8.945
_version_ 1770555158237806592
score 13.211869

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