Heading control for quadruped stair climbing based on PD controller for the KRSRI competition
DOI:
https://doi.org/10.26418/elkha.v15i2.70381Keywords:
Heading control, inverse kinematic, PD controller, quadruped robotAbstract
Quadruped, a robot that resembles four-legged animals, is developed for many purposes, such as surveillance and rescue. Such a caveat requires the robot to have the capability to overcome various terrain and obstacles. When moving across such a landscape, it is essential to maintain the robot's orientation steadily. Inclined terrains such as stairs have posed another challenge to the control strategy as the robot is unstable while climbing. Therefore, the contribution of this work is to address the need for heading control because of the relatively longer stairs used for the current competition compared to the past. The proposed control system simultaneously maintains the heading while keeping the body stable. The inertial measurement unit sensor carried by the robot would provide the pose needed for heading control calculations. The robot's heading becomes the base for the PD controller calculation. The final pose that stabilizes the robot while tackling heading error is a combination of correction from the PD controller and the stabilization part of the control strategy. Then, the leg servo angle determination deployed the inverse kinematics calculation from the suitable robot pose. The proposed method enabled the designed robot to maintain its heading with a 4.4-degree margin of error and stabilize the body. The quadruped also completes the stair climbing at the shortest time of 20 seconds with a speed of up to 5.5 centimeters per second.
References
A. T. B. Antok, A. Darmawan, et al., “Quadruped Robot Balance Control For Stair Climbing Based On Fuzzy Logic,†2021 International Electronics Symposium (IES), Surabaya, 2021.
R. M. Zand and S. B. Shouraki., "Designing a Fuzzy Logic Controller for a Quadruped Robot Using Human Expertise Extraction," in IEE, Tehran, Iran, 2013.
Z. Nasution, A. F. I. Suparman, G. A. Prasetyo, A. H. Alasiry, E. H. Binugroho, and A. Darmawan., "Body Balancing Control for EILERO Quadruped Robot while Walking on Slope," in 2019 International Electronics Symposium (IES), Surabaya, 2019.
C. Tang, F. Xu, and F. Zou., "A Stable Trot Strategy of Quadruped Robot Based on Capture Point," in IEE, Honolulu, HI, USA, 2017.
D. Riattama, E. H. Binugroho, R. S. Dewanto, and D. Pramadihanto., "PENS-Wheel (One-Wheeled Self Balancing Vehicle)Balancing Control using PID Controller," in IEEE, Denpasar, Indonesia, 2016.
M. A. Rosyidi, E. H. Binugroho, S. E. Radin Charel, R. S. Dewanto, and D. Pramadihanto, "Speed and balancing control for unicycle robot," 2016 International Electronics Symposium (IES), 2016, pp. 19-24.
R. D. Pristovani, B. EKo Henfri, S. Dewanto, and D. Pramadihanto, "Forward Kinematics with Full Body Analysis in "T-FLoW" Humanoid Robot," 2018 International Electronics Symposium on Engineering Technology and Applications (IES-ETA), 2018, pp. 84-89.
L. Yanto, R. Sanggar Dewanto, D. Pramadihanto, and E. Henfri Binugroho, "Total kinematic on humanoid “FLoW†Teen-Size robot," 2017 International Electronics Symposium on Engineering Technology and Applications (IES-ETA), 2017, pp. 106-111.
R. Dimas Pristovani, W. M. Rindo, B. E. Henfri, K. H. A. Subhan, and D. Pramadihanto, "Basic walking trajectory analysis in FLoW ROBOT," 2016 International Electronics Symposium (IES), 2016, pp. 329-334
R. D. Pristovani, B. E. Henfri, D. Sanggar, and P. Dadet, "Walking strategy model based on zero moment point with single inverted pendulum approach in “T-FLoW†humanoid robot," 2017 2nd International conferences on Information Technology, Information Systems and Electrical Engineering (ICITISEE), 2017, pp. 217-222.
G. A. Prasetyo, F. I. Suparman, Z. Nasution, E. H. Binugroho, and A. Darmawan., "Development of the Gait Planning for Stability Movement on Quadruped Robot," in IEE, Surabaya, Indonesia, 2019.
H. Kim, T. Kang, V. G. Loc, and H. R. Choi. "Gait Planning of Quadruped Walking and Climbing Robot for Locomotion in 3D Environment," in IEEE, Barcelona, Spain, April 2005.
Z. Xu, J. Gao, and C. Liu., "Stability analysis of quadruped robot based on compliant control," in IEE, Qingdao, China, 2017.
M. Piao, G. Dai, and G. Ding, "Gait planning and simulation of quadruped robot climbing one-step stair," in 2020 IEEE 9th Joint International Information Technology and Artificial Intelligence Conference (ITAIC), 2020.
F. Yumbla, S. Woo, E. Q. Yumbla, T. Luong, and H. Moon, "Motions Analysis for Stair Climbing by Two or Three Steps and Cross over an Obstacle for a Quadruped Robot," in 2020 20th International Conference on Control, Automation and Systems (ICCAS), Busan, Korea (South), 2020, pp. 262-267.
L. Ye, Y. Wang, X. Wang, H. Liu, and B. Liang, "Optimized Static Gait for Quadruped Robots Walking on Stairs," in 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), Lyon, France, 2021, pp. 921-927.
M. A. Şen, V. Bakırcıoğlu, and M. Kalyoncu, "Inverse Kinematic Analysis Of A Quadruped Robot," International Journal of Scientific & Technology Research, vol. 6, 2017.
L. Fućek, Z. KovaÄić, and S. Bogdan, "Analytically founded yaw control algorithm for walking on uneven terrain applied to a hexapod robot," International Journal of Advanced Robotic Systems, vol. 16, no. 3, 2019.
Downloads
Additional Files
Published
Issue
Section
License
Copyright (c) 2023 ELKHA : Jurnal Teknik Elektro
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
1. Proposed Policy for Journals That Offer Open Access
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
2. Proposed Policy for Journals That Offer Delayed Open Access
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication, with the work [SPECIFY PERIOD OF TIME] after publication simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
