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Distributed Motion Synchronisation Control of Humanoid Arms

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Intelligent Robotics Systems: Inspiring the NEXT (FIRA 2013)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 376))

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Abstract

A novel distributed adaptive control algorithm of a pair of humanoid robot arm system (Bristol-Elumotion-Robotic-Torso II (BERT II)) is proposed, analysed and simulated. Two humanoid arms are subjected to a distributed synchronisation control with a virtual leader-following trajectory to be followed, serving a potential application for a smooth cooperative task. The approach presented here is inspired by multi-agent theory. Graph theoretical concept such as Laplacian matrix is used to represent mutual communication between the two arms (regarded as agent nodes) with one of the arm ‘pinned’ to a virtual leader (leader node). The stability of the proposed algorithm is analysed through Lyapunov technique. The algorithm features a sliding-mode term based adaptive law that captures directly the parameter estimation error. An auxiliary filtered regression vector and filtered computed torque is introduced. This allows the definition of another auxiliary matrix, a filtered regression matrix, which facilitates the introduction of the sliding term into the adaptation law. Parameter error convergence to zero can be guaranteed within finite-time with a Persistent-Excitation (PE) or Sufficient Richness condition for the virtual leader’s trajectory.

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Author information

Authors and Affiliations

  1. Bristol Robotic Laboratory and Department of Mechanical Engineering, University of Bristol, Bristol, UK

    Muhammad Nasiruddin Mahyuddin & Guido Herrmann

Authors
  1. Muhammad Nasiruddin Mahyuddin
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  2. Guido Herrmann
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Editor information

Editors and Affiliations

  1. Center for Artificial Intelligence Technology, Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600, Bangi, Selangor, Malaysia

    Khairuddin Omar  & Mohammad Faidzul Nasrudin  & 

  2. Center for Artificial Intelligence Technology, Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600 UKM, Bangi, Selangor, Malaysia

    Md Jan Nordin

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat

  4. Center for Artificial Intelligence Technology (CAIT), Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600 UKM, Bangi, Selangor D.E., Malaysia

    Anton Satria Prabuwono  & Siti Norul Huda Sheikh Abdullah  & 

  5. Autonomous Agents Lab, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes

  6. Center for Artificial Intelligence and Robotics (CAIRO), Fakulti Kejuruteraan Elektrik, Universiti Teknologi Malaysia, 81310 UTM, Skudai, Johor, Malaysia

    Shamsudin Mohd Amin

  7. Department of Electrical & Electronics Engineering, Faculty of Engineering, University Putra Malaysia, 43400 UPM, Serdang, Selangor

    Wan Zuha Wan Hassan

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© 2013 Springer-Verlag Berlin Heidelberg

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Mahyuddin, M.N., Herrmann, G. (2013). Distributed Motion Synchronisation Control of Humanoid Arms. In: Omar, K., et al. Intelligent Robotics Systems: Inspiring the NEXT. FIRA 2013. Communications in Computer and Information Science, vol 376. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40409-2_3

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  • DOI: https://doi.org/10.1007/978-3-642-40409-2_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40408-5

  • Online ISBN: 978-3-642-40409-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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