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
相关论文
共 50 条
  • [21] CONTROL OF A HUMANOID ROBOT USING MOTION RETARGETING
    Medina Lee, Juan Felipe
    Capacho Valbuena, Luis Miguel
    REVISTA DE INVESTIGACIONES-UNIVERSIDAD DEL QUINDIO, 2015, 27 (01): : 23 - 28
  • [22] Standing Push Recovery Based on LIPM Dynamics Control for Biped Humanoid Robot
    Zhang, Rongge
    Zhao, Mingguo
    Wang, Chi-Lun
    2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2018, : 1732 - 1737
  • [23] Minimal Null Space Task Parameterization for Balance Control of Humanoid robot
    Yoo, Seungjae
    Oh, Yonghwan
    PROCEEDINGS OF 2019 5TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND ROBOTICS ENGINEERING (ICMRE 2019), 2019, : 130 - 133
  • [24] Balance control of a humanoid robot based on the reaction null space method
    Nishio, Akinori
    Takahashi, Kentaro
    Nenchev, Dragomir N.
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 1996 - +
  • [25] Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach
    Monje, Concepcion A.
    Martinez, Santiago
    Pierro, Paolo
    Balaguer, Carlos
    CYBERNETICS AND SYSTEMS, 2018, 49 (7-8) : 521 - 537
  • [26] Adaptive Dynamic Balance Control of Humanoid Robot Based on Leg Joints
    Yang, Liang
    Liang, Ruishi
    Fu, Yu
    Fu, Genping
    Tian, Bo
    2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2015, : 6153 - 6157
  • [27] Standing Balance Control of a Bipedal Robot Based on Behavior Cloning
    Bong, Jae Hwan
    Jung, Suhun
    Kim, Junhwi
    Park, Shinsuk
    BIOMIMETICS, 2022, 7 (04)
  • [28] BALANCE RECOVERY OF A HUMANOID ROBOT USING COGNITIVE SENSORIMOTOR LOOPS (CSLs)
    Kubisch, Matthias
    Benckendorff, Christian
    Hild, Manfred
    FIELD ROBOTICS, 2012, : 142 - 148
  • [29] Online Gain Switching Algorithm for Joint Position Control of a Hydraulic Humanoid Robot
    Kim, Jung-Yup
    Atkeson, Christopher G.
    Hodgins, Jessica K.
    Bentivegna, Darrin C.
    Cho, Sung Ju
    HUMANOIDS: 2007 7TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, 2007, : 13 - 18
  • [30] Biologically inspired kinematic synergies enable linear balance control of a humanoid robot
    Helmut Hauser
    Gerhard Neumann
    Auke J. Ijspeert
    Wolfgang Maass
    Biological Cybernetics, 2011, 104 : 235 - 249
12345