Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot

doi:10.1016/j.nahs.2024.101496

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	Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot
	Zhang, Chi 1,2,3; Zou, Wei 2,3; Ma, Liping 2; Cheng, Ningbo 2
刊名	NONLINEAR ANALYSIS-HYBRID SYSTEMS
	2024-08-01
卷号	53 页码:18
关键词	Port-Hamiltonian with dissipation(pHd) Bio-inspired jumping robot Dynamic modeling Interconnection and damping assignment passivity-based control(IDA-PBC)
ISSN号	1751-570X
DOI	10.1016/j.nahs.2024.101496
通讯作者	Zou, Wei(wei.zou@ia.ac.cn)
英文摘要	Applying jumping locomotion into autonomous mobile robot is an effective way for improving abilities to overcome barriers and pass through complex terrains. In this paper, based on the designed structural framework for bio-inspired quadruped jumping robot, dynamic model is established by utilizing port-Hamiltonian with dissipation (pHd) method, and a passivity-based control strategy for the robot joints trajectory tracking is presented. First, morphology and biomimetics knowledges of frogs (a kind of animals with excellent jumping skill) motivate us to complete a bio-inspired jumping robot framework based on frog's motion mechanism and body structure with torsional springs as energy storage device. Then, combining system passivity and dissipation, port-Hamiltonian method is utilized to build a dynamic model for expressing the relationship of energy and force in the designed robot. Jumping process analysis of different stages is also designed for ensuring the robot to complete taking-off and landing stages successfully. Next, with the definition of extending feasible robotic joint trajectory by La Salle invariant set principle, interconnection and damping assignment passivity-based control (IDA-PBC) method is exerted to obtain a trajectory controller for realizing smoothly and stably trajectory tracking in joint space. At last, simulation results show the reasonableness of the designed framework. By comparing our method with state-feedback and sliding mode control, effectiveness of the dynamic model and trajectory controller is also verified.
资助项目	Natural Science Foundation of Education Department, Hebei Province, China[QN2024137] ; National Key Research and Development Program of China[2017YFB1300104]
WOS关键词	PASSIVITY-BASED CONTROL ; FROG ; INTERCONNECTION
WOS研究方向	Automation & Control Systems ; Mathematics
语种	英语
出版者	ELSEVIER SCI LTD
WOS记录号	WOS:001229912700001
资助机构	Natural Science Foundation of Education Department, Hebei Province, China ; National Key Research and Development Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/58448]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Zou, Wei
作者单位	1.Shijiazhuang Tiedao Univ, Sch Informat Sci & Technol, 17 East Rd North 2nd Ring, Shijiazhuang 050041, Peoples R China 2.Chinese Acad Sci, Inst Automat, 95 Zhongguancun Rd, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, 19 Yuquan Rd, Beijing 100149, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Chi,Zou, Wei,Ma, Liping,et al. Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot[J]. NONLINEAR ANALYSIS-HYBRID SYSTEMS,2024,53:18.
APA	Zhang, Chi,Zou, Wei,Ma, Liping,&Cheng, Ningbo.(2024).Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot.NONLINEAR ANALYSIS-HYBRID SYSTEMS,53,18.
MLA	Zhang, Chi,et al."Port-Hamiltonian modeling and jumping trajectory tracking control for a bio-inspired quadruped robot".NONLINEAR ANALYSIS-HYBRID SYSTEMS 53(2024):18.