Standing Balance Switching Control Using the Stability Status of Humanoid Robot

被引：0
|
作者：
Maeda, Hiroki [1 ]
Kato, Shohei [1 ]
机构：
[1] Nagoya Inst Technol, Grad Sch Engn, Dept Comp Sci & Engn, Showa Ku, Gokiso Cho, Nagoya, Aichi 4668555, Japan
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON AGENTS (IEEE ICA 2016) | 2016年
关键词：
standing balance control; humanoid robot; parameter optimization;
D O I：
10.1109/ICA.2016.51
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose a method standing balance switching control using the stability status of humanoid robot. Our method controls lower limb joints' angular velocity of a humanoid robot using trunk position compliance control for maintaining its standing balance. Our method also uses a spring-damper model for vibration suppression control of a humanoid robot and uses PID control that feedbacks gravity center velocity. We compare our method by holding standing posture using ODE simulator between with and without switching.
引用
收藏
页码：116 / 117
页数：2
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