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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.
Sensors (Basel, Switzerland)
|January 8, 2023
Summary
This study implements nonlinear Backstepping control for humanoid robot arm and head movements, enabling smoother human-robot interaction through precise trajectory tracking.
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.
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