Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer

Jungsu Choi; Byeonghun Na; Sehoon Oh; Kyoungchul Kong

doi:10.3182/20140824-6-za-1003.01930

Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer

Jungsu Choi
, Byeonghun Na
, Sehoon Oh
, Kyoungchul Kong

Department of Robotics and Mechatronics Engineering

Sogang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Quadruped robot systems are being intensively investigated as a new means of transportation systems with multi-purposes. As the operation conditions of such systems, such as a payload and gait speed, are demanding, the control of the robotic legs is challenging. In addition, the dynamics of such systems is subjected to large disturbances and parameter variations due to the ground contact and the complicated mechanical structure. In this paper, a robust control algorithm based on a disturbance observer (DOB) is proposed for the control of legs of a quadruped robot, Cheetaroid-I. The DOB enables rejecting disturbances caused by the ground contact, payload, etc, and detecting the ground contact without force sensors. The proposed method is verified by experimental results.

Original language	English
Title of host publication	19th IFAC World Congress IFAC 2014, Proceedings
Editors	Edward Boje, Xiaohua Xia
Publisher	IFAC Secretariat
Pages	7246-7251
Number of pages	6
ISBN (Electronic)	9783902823625
DOIs	https://doi.org/10.3182/20140824-6-za-1003.01930
State	Published - 2014
Event	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa Duration: 24 Aug 2014 → 29 Aug 2014

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	19
ISSN (Print)	1474-6670

Conference

Conference	19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Country/Territory	South Africa
City	Cape Town
Period	24/08/14 → 29/08/14

Bibliographical note

Publisher Copyright:
© IFAC.

Access to Document

10.3182/20140824-6-za-1003.01930

Cite this

Choi, J., Na, B., Oh, S., & Kong, K. (2014). Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 7246-7251). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.01930

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title = "Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer",

abstract = "Quadruped robot systems are being intensively investigated as a new means of transportation systems with multi-purposes. As the operation conditions of such systems, such as a payload and gait speed, are demanding, the control of the robotic legs is challenging. In addition, the dynamics of such systems is subjected to large disturbances and parameter variations due to the ground contact and the complicated mechanical structure. In this paper, a robust control algorithm based on a disturbance observer (DOB) is proposed for the control of legs of a quadruped robot, Cheetaroid-I. The DOB enables rejecting disturbances caused by the ground contact, payload, etc, and detecting the ground contact without force sensors. The proposed method is verified by experimental results.",

author = "Jungsu Choi and Byeonghun Na and Sehoon Oh and Kyoungchul Kong",

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doi = "10.3182/20140824-6-za-1003.01930",

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Choi, J, Na, B, Oh, S & Kong, K 2014, Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer. in E Boje & X Xia (eds), 19th IFAC World Congress IFAC 2014, Proceedings. IFAC Proceedings Volumes (IFAC-PapersOnline), vol. 19, IFAC Secretariat, pp. 7246-7251, 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 24/08/14. https://doi.org/10.3182/20140824-6-za-1003.01930

Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer. / Choi, Jungsu; Na, Byeonghun; Oh, Sehoon et al.
19th IFAC World Congress IFAC 2014, Proceedings. ed. / Edward Boje; Xiaohua Xia. IFAC Secretariat, 2014. p. 7246-7251 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Quadruped robot systems are being intensively investigated as a new means of transportation systems with multi-purposes. As the operation conditions of such systems, such as a payload and gait speed, are demanding, the control of the robotic legs is challenging. In addition, the dynamics of such systems is subjected to large disturbances and parameter variations due to the ground contact and the complicated mechanical structure. In this paper, a robust control algorithm based on a disturbance observer (DOB) is proposed for the control of legs of a quadruped robot, Cheetaroid-I. The DOB enables rejecting disturbances caused by the ground contact, payload, etc, and detecting the ground contact without force sensors. The proposed method is verified by experimental results.

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Robust position tracking control and ground contact detection of a cheetaroid-I leg by a disturbance observer

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