Modern robotic systems are fully actuated with full information of themselves and their immediate surroundings. If faced with a failure or damage, robotic systems cannot function properly and can quickly damage themselves. A Linear Quadratic Regulator (LQR) control system is proposed to allow an under actuated (damaged) robotic system (five-degrees-of-freedom, planar, biped, walking robot) to continue to follow a human-like walking gait in a series of Matlab and Simulink simulations. The proposed LQR controller keeps joint position errors to below 4 degrees for the fully actuated system, performing the entire gait within the given step time and length. The under actuated control system can match the fully actuated system using a separate LQR controller. Use of time-varying control and Markovian jump methods can compile both controllers into a dynamically adaptive whole, capable of full to partial gait during both locked joint and free joint failures with brakes applied as needed.
University of Minnesota. M.S. dissertation. September 2010. Major: Electrical/Computer Engineering. Advisor: Jiann-Shiou Yang. 1 computer file (PDF); vii, 105 pages. Ill. (some col.)
Leines, Matthew Thomas.
Linear quadratic regulator control of an under actuated five-degree-of-freedom planar biped walking robot.
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