مراجعة ادبية للطرق المستخدمة للمحافظة على توازن الروبوتات ذات القدمين ضد المؤثرات الخارجية
pdf (الإنجليزية)

كيفية الاقتباس

مراجعة ادبية للطرق المستخدمة للمحافظة على توازن الروبوتات ذات القدمين ضد المؤثرات الخارجية. (2024). مجلة الخوارزمي الهندسية, 20(3), 20-35. https://doi.org/10.22153/kej.2024.07.002

تواريخ المنشور

الإستلام

2024-05-12

النسخة النهائية

2024-07-23

الموافقة

2024-07-29

النشر الالكتروني

2024-09-01

الملخص

من المتوقع للروبوتات ذات القدمين ان يكون لها دور فعال في حياتنا اليومية وايضا الدخول في المجلات الصناعية والطبية وان يكون لها دور في عملية البحث والانقاذ التي تتم في اماكن خطرة على البشر. من اهم العوائق التي تواجه هذا النوع من الروبوتات هو قدرتها على ان تبقى متوازنة ومستقرة في حالة وجود مؤثرات خارجية كالارض الغير مستوية او تعرضها الى اصطدام مع البيئة المحيطة وهذا مايعيق قدرتها على التفاعل مع المحيط. لذلك من الضروري جدا تصيميم انظمة سيطرة فعالة قادرة على مساعدة هذه الروبوتات بان تبقى متوازنة اثناء تفاعلها مع البيئة المحيطة. هذه الدراسة تقدم مراجعة ادبية للبحوث السابقة الي عملت على فكرة ابقاء الروبوتات ذات القدمين مستقرة عندما تكون واقفة او متحركة (المشي) واثناء وجود قوة خارجية تحاول ان تجعل الروبوتات غير متوازنة. بالاضافة الى ذلك، هذه الورقة تقدم تصنيف واضح للدراسات السابقة بالاعتماد على ثلاثة معايير(التمثيل الرياضي للروبوت والطريقة المستخدمة للسيطرة والمتحسسات المطلوبة). هذا التصنيف سوف يساعد الباحثين على فهم وتحليل الطرق المستخدمة بطريقة سريعة وفعالة.

pdf (الإنجليزية)

المراجع

M. Shafiee, G. Romualdi, S. Dafarra, F. J. Chavez and a. D. Pucci, "Online DCM trajectory generation for push recovery of torque-controlled humanoid robots," in IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019.

M. VUKOBRATOVIĆ and B. Borovac, "Zero-moment point — thirty five years of its life," International Journal of Humanoid Robotics, vol. 01, p. 157–173, 2004.

A. Goswami, " Postural stability of biped robots and the foot-rotation indicator (FRI) point," The International Journal of Robotics Research, vol. 18, p. 523–533, 1999.

M. Vukobratović and J. Stepanenko, "On the stability of anthropomorphic systems," Mathematical Biosciences, vol. 15, p. 1–37, 1972.

A. Goswami and P. Vadakkepat, Humanoid Robotics: A Reference., Springer, 2020.

M. B. Popovic, A. Goswami and H. Herr, "Ground reference points in legged locomotion: Definitions, biological trajectories and Control Implications," The International Journal of Robotics Research, vol. 24, p. 1013–1032, 2005.

S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi and H. Hirukawa, "The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001.

Z. Li, C. Zhou, H. Dallali, N. G. Tsagarakis and D. G. Caldwell, "Comparison study of two inverted pendulum models for balance recovery," in IEEE-RAS International Conference on Humanoid Robots, 2014.

D. E. Orin, A. Goswami and S.-H. Lee , "Centroidal Dynamics of a humanoid robot," v, vol. 35, p. 161–176, 2013.

E. Dantec, M. Naveau, P. Fernbach, N. Villa, G. Saurel, O. Stasse, M. Taix and N. Mansard, "Whole-body model predictive control for biped locomotion on a torque-controlled humanoid robot," in IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022.

M. Folgheraiter, A. Yessaly, G. Kaliyev, A. Yskak, S. Yessirkepov, A. Oleinikov and G. Gini, "Computational Efficient Balance Control for a lightweight biped robot with sensor based ZMP estimation," in 18th International Conference on Humanoid Robots (Humanoids), 2018.

P. Ghassemi, M. T. Masouleh and A. Kalhor, "Push recovery for nao humanoid robot," in Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), 2014.

B. J. Stephens and C. G. Atkeson, "Push recovery by stepping for humanoid robots with force controlled joints," in 10th IEEE-RAS International Conference on Humanoid Robots, 2010.

J. Li, Z. Yuan, S. Dong, J. Zhang and X. Sang , "External Force Observer aided push recovery for torque-controlled biped robots," Autonomous Robots, vol. 46, p. 553–568, 2022.

R. Featherstone, Rigid Body Dynamics Algorithms Roy Featherstone, New York, NY: Springer, 2007.

F. Horak and L. Nashner, "Central programming of postural movements: adaptation to altered support-surface configurations," Journal of Neurophysiology, vol. 55, p. 1369–1381, 1986.

B. E. Maki and W. E. Mcllroy, "The Role of Limb Movements in Maintaining Upright Stance: The ‘Change-in-Support’ Strategy," Physical Therapy, vol. 77, p. 488–507, 1997.

J. Shan, C. Junshi and C. Jiapin, "Design of Central Pattern Generator for humanoid robot walking based on multi-objective GA," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), 2000.

D. Katic and M. Vukobratovic, "Intelligent Control Techniques for humanoid robots," in European Control Conference (ECC), 2003.

A. Yasin, Q. Huang, Q. Xu and M. S. Sultan, "Humanoid robot push recovery through foot placement," in IEEE International Conference on Mechatronics and Automation, 2012.

H. Song, W. Z. Peng and . J. H. Kim, "Partition-aware Stability Control for humanoid robot push recovery with whole-body capturability," Journal of Mechanisms and Robotics, vol. 16, p. 1, 2023.

W. Z. Peng, C. Mummolo, H. Song and J. H. Kim, "Whole-body balance stability regions for multi-level momentum and stepping strategies," Mechanism and Machine Theory, vol. 174, p. 104880, 2022.

H. Ono, T. Sato and K. Ohnishi, "Balance recovery of ankle strategy: Using knee joint for biped robot," in 1st International Symposium on Access Spaces (ISAS), 2011.

D. N. Nenchev and A. Nishio, "Ankle and hip strategies for balance recovery of a biped subjected to an impact," Robotica, vol. 26, p. 643–653, 2008.

D. N. Nenchev and A. Nishio, "Experimental validation of ankle and hip strategies for balance recovery with a biped subjected to an impact," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.

Y. Liu, J. Shen, J. Zhang, X. Zhang, T. Zhu and D. Hong, "Design and control of a miniature bipedal robot with proprioceptive actuation for dynamic behaviors," in International Conference on Robotics and Automation (ICRA), 2022.

B. Stephens, "Integral control of humanoid balance," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.

S. Yi, B. Zhang, D. Hong and D. D. Lee, "Learning full body push recovery control for small humanoid robots," in IEEE International Conference on Robotics and Automation, 2011.

M. Missura and S. Behnke, "Gradient-driven online learning of Bipedal push recovery," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.

J. Pratt, J. Carff, S. Drakunov and A. Goswami, "Capture point: A step toward humanoid push recovery," in 6th IEEE-RAS International Conference on Humanoid Robots, 2006.

C. G. Atkeson and B. J. Stephens, "Dynamic Balance Force Control for compliant humanoid robots," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010.

M. Ashtiani, A. Koma, M. Panahi and M. Khadiv, "Push recovery of a humanoid robot based on model predictive control and Capture Point," in 4th International Conference on Robotics and Mechatronics (ICROM), 2016.

C. Ott, M. A. Roa and G. Hirzinger, "Posture and balance control for biped robots based on contact force optimization," in 11th IEEE-RAS International Conference on Humanoid Robots, 2011.

R. Schuller, G. Mesesan, J. Englsberger, J. Lee and C. Ott, "Online centroidal angular momentum reference generation and motion optimization for Humanoid push recovery," IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5689-5696, 2021.

G. Mesesan, J. Englsberger, G. Garofalo, C. Ott and A. Albu-Schaffer, "Dynamic walking on compliant and uneven terrain using DCM and passivity-based whole-body control," in Dynamic walking on compliant and uneven terrain using DCM IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019.

J. Zhao, S. Schütz and K. Berns, "Biologically motivated push recovery strategies for a 3D bipedal robot walking in complex environments," in IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013.

R. C. Luo, C. Huang and W. Hung, "Bipedal robot push recovery control mimicking human reaction," in IEEE 14th International Workshop on Advanced Motion Control (AMC), 2016.

A. Adiwahono, C. Chew, W. Huang and V. Dau, "Humanoid robot push recovery through walking phase modification," in IEEE Conference on Robotics, Automation and Mechatronics, 2010.

J. Shen, J. Zhang, Y. Liu and D. Hong, "Implementation of a robust dynamic walking controller on a miniature bipedal robot with proprioceptive actuation," in IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022.

A. Parashar, A. Parashar and S. Goyal, "Push recovery for humanoid robot in dynamic environment and classifying the data using K-mean," International Journal of Interactive Multimedia and Artificial Intelligence, vol. 4, p. 29, 2016.

K. Guan, K. Yamamoto and Y. Nakamura, "Push recovery by angular momentum control during 3D bipedal walking based on virtual-mass-ellipsoid inverted pendulum model," in IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019.

K. Guan, K. Yamamoto and Y. Nakamura, "Virtual-mass-ellipsoid inverted pendulum model and its applications to 3D bipedal locomotion on uneven terrains," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.

A. Adiwahono, C. Chew, W. Huang and Y. Zheng, "Push recovery controller for bipedal robot walking," in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2009.

S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi and H. Hirukawa, "Biped walking pattern generation by using preview control of zero-moment point," in IEEE International Conference on Robotics and Automation, 2003.

X. Xiong and A. D. Ames, "Dynamic and versatile humanoid walking via embedding 3D actuated slip model with hybrid lip based stepping," IEEE Robotics and Automation Letters, vol. 5, p. 6286–6293, 2020.

X. Xiong, Y. Chen and A. D. Ames, "Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation," in 60th IEEE Conference on Decision and Control (CDC), 2021.

X. Xiong and A. Ames, "3-D underactuated bipedal walking via H-lip based gait synthesis and stepping stabilization," IEEE Transactions on Robotics, vol. 38, p. 2405–2425, 2022.

J. Pratt, T. Koolen, T. de Boer, J. Rebula, S. Cotton, J. Carff, M. Johnson and P. Neuhaus, "Capturability-based analysis and control of Legged Locomotion, part 2: Application to M2V2, a lower-body humanoid,” The International Journal of Robotics Research," The International Journal of Robotics Research, vol. 31, p. 1117–1133, 2012.

P. Bhounsule, M. Kim and A. Alaeddini, "Approximation of the step-to-step dynamics enables computationally efficient and fast optimal control of Legged Robots," in 44th Mechanisms and Robotics Conference (MR), 2020..

A. Yasin, Q. Huang, Q. Xu and W. Zhang, "Biped robot push detection and recovery," in IEEE International Conference on Information and Automation, 2012.

A. Hosseinmemar, J. Baltes, J. Anderson, M. Cheng Lau, C. Fung Lun and Z. Wang, "Closed-loop push recovery for inexpensive humanoid robots," Applied Intelligence, vol. 49, p. 3801–3814, 2019.

J. Urata, K. Nshiwaki, Y. Nakanishi, K. Okada, S. Kagami and M. Inaba, "Online walking pattern generation for push recovery and minimum delay to commanded change of direction and speed," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012.

L.-F. Wu and L. Tzuu-Hseng S., "Fuzzy dynamic gait pattern generation for real-time push recovery control of a teen-sized humanoid robot," IEEE Access, vol. 8, pp. 36441-36453, 2020.

Creative Commons License

هذا العمل مرخص بموجب Creative Commons Attribution 4.0 International License.

الحقوق الفكرية (c) 2024 مجلة الخوارزمي الهندسية