Modeling, simulation and control of a humanoid robot on wheels
Abstract
This article presents the modeling and control of a new humanoid robot as an inverted pendulum on wheels platform, the objective of the linear control scheme is to maintain the stability of the platform by maintaining balance and following movement instructions. The proposed system is formed by two main elements: the humanoid torso formed by ten joints, considering the two arms and the head, on the other hand a mobile platform with three degrees of freedom with two wheels, which makes it an underactuated system. The development of the mathematical model and its linearization are presented, as well as the calculation of the model parameters. In addition, the simulation results are presented in the Matlab/Simulink software using a full-state feedback controller, including a comparison using two design methods: pole assignment and the quadratic linear regulator technique, for the tests initial conditions, disturbances and trajectory tracking are considered.
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References
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