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Non Linear Control System for Humanoid Robot to Perform Body Language Movements.

Juan Manuel Gomez-Quispe1, Gustavo Pérez-Zuñiga1, Diego Arce1

  • 1Engineering Department, Pontificia Universidad Catolica del Peru, San Miguel, Lima 15088, Peru.

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Summary
This summary is machine-generated.

This study implements nonlinear Backstepping control for humanoid robot arm and head movements, enabling smoother human-robot interaction through precise trajectory tracking.

Keywords:
Backstepping controlSliding Mode controldynamic modelredundant manipulator

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Area of Science:

  • Robotics
  • Control Systems
  • Human-Robot Interaction

Background:

  • Social robots require precise movements for effective human interaction.
  • Complex nonlinear dynamics and disturbances necessitate advanced control techniques.

Purpose of the Study:

  • To design and implement a nonlinear controller for humanoid robot arm and head trajectory tracking.
  • To compare different nonlinear control strategies for robotic movement.

Main Methods:

  • Mathematical modeling via kinematic and dynamic analysis.
  • Design and comparison of nonlinear controllers: Proportional-Derivative, Backstepping, and Sliding Mode.
  • Implementation using a centralized control architecture with microcontrollers.

Main Results:

  • Backstepping control was selected based on frequency analysis, trajectory efficiency, and implementation requirements.
  • Real-time experiments validated the controller's ability to track trajectories accurately.
  • The system demonstrated effective execution of body language movements.

Conclusions:

  • Nonlinear Backstepping control is effective for precise humanoid robot arm and head movements.
  • The implemented system enhances functional and social aspects of human-robot interaction.
  • Accurate trajectory tracking is crucial for naturalistic robotic body language.