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Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object

Chen, Zengshi
http://rave.ohiolink.edu/etdc/view?acc_num=osu1158442034

Abstract Details

2006, Doctor of Philosophy, Ohio State University, Electrical Engineering.
The main objective of this dissertation is to understand how the humanoid organisms or machines use appropriate control strategies and reference motions to achieve the desirable collision responses such as the contact time, the contact forces, the departure velocities of two colliding subjects and the physical deformation. Thereby, the collision of a subject with a rigid object such as a flat ground or a soft object such as a soccer ball is modeled and studied. In particular, we are interested in the collision of a rigid humanoid organism with a rigid ground in the step stance. A complete model of a five-link subject standing on flat ground is considered in four phases: the take-off phase, the flight phase, the landing phase with impacts, and the standing-up phase. We project the joint space model onto the subspace consisting of the hip translational positions and the torso orientation. Inverse kinematics is used to map the Cartesian space to the joint space. Contact forces are formulated as a function of the state variables and controls. Collision of a subject with a soft object is studied by the interaction of a human rigid lower limb with a soccer ball. A general coupling model between the foot and the ball is obtained as a nonlinear spring in parallel with a nonlinear damper. Elasticity is obtained from experimentation. The nonlinear damping in proportion to a restitution-related constant eliminates impact discontinuity. Contact force is modeled as a function of the penetration and the penetration rate of the ball. Collision time we study is short and can be in the magnitude of milliseconds. The simulation requires fast tracking convergence and small steady state tracking error. Therefore, an integral sliding mode control strategy is designed to track the reference motion, obtained by experimental recording of humans executing the step stance leap. The sliding mode control algorithm is developed to track the preplanned trajectory against modeling uncertainties and impact disturbances for the ball-foot interaction.
Hemami Hooshang (Advisor)
207 p.
step stance leap; collision; viscoelastic; integral sliding mode control; projection; finite-time convergence; robustness; stability; the Lyapunov method; switching surface; rigid; elastic; restitution; departure velocity; deformation; decompression

Recommended Citations

Citations

  • Chen, Z. (2006). Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object [Doctoral dissertation, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1158442034

    APA Style (7th edition)

  • Chen, Zengshi. Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object. 2006. Ohio State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1158442034.

    MLA Style (8th edition)

  • Chen, Zengshi. "Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object." Doctoral dissertation, Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=osu1158442034

    Chicago Manual of Style (17th edition)

osu1158442034
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© 2006, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.