DYNAMIC BALANCE OF A HOPPING HUMANOID ROBOT USING A LINEARIZATION METHOD

被引：4
|
作者：
Cho, Baek-Kyu [1 ]
Oh, Jun-Ho [2 ]
机构：
[1] Kookmin Univ, Sch Mech Syst Engn, Seoul 136702, South Korea
[2] Korea Adv Inst Sci & Technol, Dept Mech Engn, HUBO Lab, Taejon 305701, South Korea
来源：
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS | 2012年 / 9卷 / 03期
关键词：
Humanoid; balance; hopping;
D O I：
10.1142/S021984361250020X
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We describe the stabilization of a hopping humanoid robot against a disturbance. In the proposed scheme, the method of control is selected according to the size of the disturbance. A posture balance controller is used when the disturbance is small, and the posture balance controller and a foot placement method are activated together when the disturbance is large. A simplified model is used to develop the novel controller for the foot placement method, and a linearized Poincare map for single hopping is made. The control law is designed using the pole placement method. The proposed method is verified through simulation and experiment. In the experiment, HUBO2 hops well against various disturbance.
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页数：21
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