Parametric Study of Model-Based Dynamic Control Methods for Enhancing Locomotion in Underactuated Biped Robots. Case study: Hybrid Zero Dynamics and Proportional-Derivative Feedback

Document Type : Research Article

Authors

1 Shahid Beheshti University

2 Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran.

Abstract

In the field of bipedal robot motion control, the parametric study of model-based dynamic control methods holds special significance. This research focuses on a detailed examination of the parameters in model-based dynamic control methods, specifically the Hybrid Zero Dynamics (HZD) and Proportional-Derivative Feedback (PD) methods, to enhance the locomotion of underactuated bipedal robots. A three-link, knee-less, underactuated bipedal robot model with three degrees of freedom is employed as a case study. The dynamic equations for this model are derived in continuous and impact phases. By comparing and analyzing the control parameters in the two mentioned methods, robot simulations are executed using MATLAB software, and the results are compared and discussed.



Furthermore, the impact of variations in control parameters in the Proportional-Derivative Feedback method is evaluated and compared. The results indicate that the Hybrid Zero Dynamics method generates more symmetric and uniformly paced motion compared to the Proportional-Derivative Feedback method, with lower control effort. As control parameters increase in the Proportional-Derivative Feedback method, its results become closer to those of the Hybrid Zero Dynamics method, and its control effort decreases. In addition to results, this study meticulously examines and analyzes control parameters, contributing to the enhancement of bipedal robot performance.

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Amirkabir Journal of Mechanical Engineering
Volume 56, Issue 4
In Progress
July 2024
Pages 2-2

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