Plenary Lecture

Plenary Lecture

Modeling and Hybrid Position-Force Control of Walking Modular Robots

Professor Luige Vladareanu
Romanian Academy, Institute of Solid Mechanics
Bucharest, ROMANIA

Abstract: The paper presents new concepts and approaches of applied mathematics in modeling and hybrid position-force control for walking modular robots, with developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. A strategy is developed for the dynamic control of the movement of walking robots using the Zero Moment Point method by processing inertial information of force, torque and tilting and by implementing intelligent high level algorithms. The control diagram allows through modeling the generation of compliant walking, real time ZMP compensation in a single phase – the support phase, the leg joint damping control, a stable walking control and controlling the walking position base on the angular velocity of platform. For the modeling of some of the movements of the walking robot, the equation of a simple inverted pendulum was adopted, with a joint in the single support phase, which opposes the dampening forces of the leg joints. For other movements new control strategies were conceived through sequential analyses and local modeling of the movement parameters. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on rough terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking modular robot control systems for slope movement and walking by overtaking or going around obstacles.

Brief Biography of the Speaker:
Luige Vladareanu received his M.Sc. degree in electronics from the Polytechnic Institute Bucharest, in 1977. From 1984, scientific researcher of the Institute of Physics and Material Technology, from 1990, team leader of data acquisition systems and real time control systems of the Institute of Solid Mechanics, from 1991, President General Manager of Engineering and Technology Industrial VTC company. In 1998 he received Ph.D. degree in electronics field from the Institute of Solid Mechanics of Romanian Academy. From 2003, Ministry of Education and Research, executive Department for Financing Superior Education and of Scientific University Research - High Level Expert Consulting for MEC/CNCSIS project, from 2003-2005, member of Engineering Science Committee of Romanian National Research Council, from 2005, Scientific Researcher Gr.I (Professor) of Romanian Academy. His scientific work is focused on real time control in solid mechanics applied in robot trajectory control, hybrid position – force control, multi-microprocessor systems for robot control, acquisition and processing of experimental physical data, experimental methods and signal processing, nano-micro manipulators, semi-active control of mechanical system vibrations, semi-active control of magnetorheological dissipaters systems, complex industrial automations with programmable logical controllers in distributed and decentralized structure. He has published 4 books, over 20 book chapters, 11 edited books, over 200 papers in journals, proceedings and conferences in the areas. Director and coordinator of 7 grants of national research – development programs in the last 5 years, 15 invention patents, developing 17 advanced work methods resulting from applicative research activities and more then 60 research projects. In 1985 the Central Institute of Physics Bucharest awarded his research team a prise for the first Romanian industrial painting robot. He is the winner of the two Prize and Gold of Excellence in Research 2000, SIR 2000, of the Romanian Government and the Agency for Science, Technology and Innovation. 3 International Invention and Innovation Competition Awards and Gold of World’s Exhibition of Inventions, Geneva 2007 and 2008, and other 7 International Invention Awards and Gold of the Brussels, Croatia, Bucharest International Exhibition. He received “Traian Vuia” (2006) award of the Romanian Academy, Romania’s highest scientific research forum, for a group of scientific papers published in the real time control in the solid mechanics. He is a member of the International Institute of Acoustics and Vibration (IIAV), Auburn University, USA (2006), ABI/s Research Board of Advisors, American Biographical Institute (2006), World Scientific and Engineering Academy Society, WSEAS (2005), International Association for Modelling and Simulation Techniques in Enterprises-AMSE, France (2004), National Research Council from Romania(2003-2005), etc. He was an organizer of several international conferences such as the General Chair of four WSEAS International Conferences ( ) and is serving on various other conferences and academic societies.

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