Plenary Lecture
The Real Time Control of
Modular Walking Robot Stability
Professor Luige Vladareanu
Romanian Academy, Institute of Solid Mechanics, Bucharest
ROMANIA
E-mail: luigiv@imsar.bu.edu.ro
Abstract: The paper presents an open architecture system for real
time control of stability for modular walking robots with applications
in the MERO structured walking robots. Starting with direct and inverted
kinematic modelling of the movement of walking robots, determining the
mathematical equations in Cartesian coordinates for the support point
Pi, found at the extremity of the leg i, in relation to the system
attached to the platform and through quasi-dynamic analysis of the
mathematical modelling for defining the walking type, the speed and the
direction of movement, the robot’s stability control algorithm has been
deduced. For stability control an open architecture system has been
developed which ensures a real time hybrid position-force control in
which the position error ?es representation is given in relation to a
squared Jacobean matrix of maximum rank, a selection matrix S and a
pseudo-invert (SJ)+ of the SJ matrix. In force control, the force
Cartesian error fe , is calculated as the difference between the actual
and desired force. By using S+, which represents the orthogonal
complement of S, the selected Cartesian force errors are determined and
the robot/s transposed Jacobean matrix transforms Cartesian forces in
torques corresponding to the joints. Using, in particular, the selected
Cartesian force errors, the selected torque joints errors are obtained.
This architecture is based on a series of associated projection matrixes
which allow dividing a vector by transforming the matrix A, into two
perpendicular components. Thus modifying the hybrid position-force
control system ensures all the conditions for stability. Mainly this is
due to the fact that calculation the inverted Jacobean matrix is no
longer necessary, which used to provoke kinematics’ instability of the
hybrid position-force control system. The obtained results have allowed
the graphical determination of the walking robot model’s reply to round
the coordinate axis rotation and have led to an improvement in the
response time to disturbances and to following the movement trajectory
in conditions of high stability.
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 ( http://www.wseas.org/conferences/2008/romania/amta/index.html
) and is serving on various other conferences and academic societies.
