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Non Linear Control System for Humanoid Robot to Perform Body Language Movements

In social robotics, especially with regard to direct interactions between robots and humans, the robotic movements of the body, arms and head must make an adequate displacement to guarantee an adequate interaction, both from a functional and social point of view. To achieve this, the use of closed-l...

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Autores principales: Gomez-Quispe, Juan Manuel, Pérez-Zuñiga, Gustavo, Arce, Diego, Urbina, Fiorella, Gibaja, Sareli, Paredes, Renato, Cuellar, Francisco
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9824201/
https://www.ncbi.nlm.nih.gov/pubmed/36617149
http://dx.doi.org/10.3390/s23010552
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author Gomez-Quispe, Juan Manuel
Pérez-Zuñiga, Gustavo
Arce, Diego
Urbina, Fiorella
Gibaja, Sareli
Paredes, Renato
Cuellar, Francisco
author_facet Gomez-Quispe, Juan Manuel
Pérez-Zuñiga, Gustavo
Arce, Diego
Urbina, Fiorella
Gibaja, Sareli
Paredes, Renato
Cuellar, Francisco
author_sort Gomez-Quispe, Juan Manuel
collection PubMed
description In social robotics, especially with regard to direct interactions between robots and humans, the robotic movements of the body, arms and head must make an adequate displacement to guarantee an adequate interaction, both from a functional and social point of view. To achieve this, the use of closed-loop control techniques that consider the complex nonlinear dynamics and disturbances inherent in these systems is required. In this paper, an implementation of a nonlinear controller for the tracking of trajectories and a profile of speeds that execute the movements of the arms and head of a humanoid robot based on the mathematical model is proposed. First, the design and implementation of the arms and head are initially presented, then the mathematical model via kinematic and dynamic analysis was performed. With the above, the design of nonlinear controllers such as nonlinear proportional derivative control with gravity compensation, Backstepping control, Sliding Mode control and the application of each of them to the robotic system are presented. A comparative analysis based on a frequency analysis, the efficiency in polynomial trajectories and the implementation requirements allowed selecting the non-linear Backstepping control technique to be implemented. Then, for the implementation, a centralized control architecture is considered, which uses a central microcontroller in the external loop and an internal microcontroller (as internal loop) for each of the actuators. With the above, the selected controller was validated through experiments performed in real time on the implemented humanoid robot, demonstrating proper path tracking of established trajectories for performing body language movements.
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spelling pubmed-98242012023-01-08 Non Linear Control System for Humanoid Robot to Perform Body Language Movements Gomez-Quispe, Juan Manuel Pérez-Zuñiga, Gustavo Arce, Diego Urbina, Fiorella Gibaja, Sareli Paredes, Renato Cuellar, Francisco Sensors (Basel) Article In social robotics, especially with regard to direct interactions between robots and humans, the robotic movements of the body, arms and head must make an adequate displacement to guarantee an adequate interaction, both from a functional and social point of view. To achieve this, the use of closed-loop control techniques that consider the complex nonlinear dynamics and disturbances inherent in these systems is required. In this paper, an implementation of a nonlinear controller for the tracking of trajectories and a profile of speeds that execute the movements of the arms and head of a humanoid robot based on the mathematical model is proposed. First, the design and implementation of the arms and head are initially presented, then the mathematical model via kinematic and dynamic analysis was performed. With the above, the design of nonlinear controllers such as nonlinear proportional derivative control with gravity compensation, Backstepping control, Sliding Mode control and the application of each of them to the robotic system are presented. A comparative analysis based on a frequency analysis, the efficiency in polynomial trajectories and the implementation requirements allowed selecting the non-linear Backstepping control technique to be implemented. Then, for the implementation, a centralized control architecture is considered, which uses a central microcontroller in the external loop and an internal microcontroller (as internal loop) for each of the actuators. With the above, the selected controller was validated through experiments performed in real time on the implemented humanoid robot, demonstrating proper path tracking of established trajectories for performing body language movements. MDPI 2023-01-03 /pmc/articles/PMC9824201/ /pubmed/36617149 http://dx.doi.org/10.3390/s23010552 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Gomez-Quispe, Juan Manuel
Pérez-Zuñiga, Gustavo
Arce, Diego
Urbina, Fiorella
Gibaja, Sareli
Paredes, Renato
Cuellar, Francisco
Non Linear Control System for Humanoid Robot to Perform Body Language Movements
title Non Linear Control System for Humanoid Robot to Perform Body Language Movements
title_full Non Linear Control System for Humanoid Robot to Perform Body Language Movements
title_fullStr Non Linear Control System for Humanoid Robot to Perform Body Language Movements
title_full_unstemmed Non Linear Control System for Humanoid Robot to Perform Body Language Movements
title_short Non Linear Control System for Humanoid Robot to Perform Body Language Movements
title_sort non linear control system for humanoid robot to perform body language movements
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9824201/
https://www.ncbi.nlm.nih.gov/pubmed/36617149
http://dx.doi.org/10.3390/s23010552
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