Juniper Publishers| Robotics Engineering


Robust Control Strategy of Human Assistant Robot




Authored by Magdi S Mahmoud,

Human assistant robot is a humanoid type robot which consists of a body with waist joint, arms designed for safety and a wheeled inverted pendulum mobile platform. The equation of motion is derived considering the non-holonomic constraint of the two-wheeled mobile robot with parameter uncertainties. A robust state feedback control method is applied for basic mobile controls wherein the control gain is calculated by linear quadratic control with proportional plus integral gain (LQRI). Through several experiments of balancing, linear running, and steering, it was confirmed that the robot could realize stable mobile motion in a real environment by the developed controller.

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