Standing Push Recovery Based on LIPM Dynamics Control for Biped Humanoid Robot

被引：0
|
作者：
Zhang, Rongge [1 ,2 ]
Zhao, Mingguo [1 ,2 ]
Wang, Chi-Lun [1 ,2 ]
机构：
[1] Tsinghua Univ, Dept Automat, Robot Control Lab, Beijing 100084, Peoples R China
[2] Beijing Innovat Ctr Future Chip, CBICR, Beijing 100084, Peoples R China
来源：
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2018年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a control method based on LIPM (Linear Inverted Pendulum Model) dynamics for the balance control of biped robot. By setting CoM (Center of Mass), CP (Capture Point), and ZMP (Zero-Moment Point) as the state of LIPM, we use state feedback of linear system to control all of them synchronously. Considering that the robot control system is digital, analysis and controller design are based on discrete system. Simulation results verify the effectiveness of the proposed method. It is also evaluated in the experiments of the robot WALKER standing push recovery.
引用
收藏
页码：1732 / 1737
页数：6
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