Integral control of humanoid balance

This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral control, which decouples the dynamics and produces smooth torque signals. Simulation shows the controller performs better than oth...

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Bibliographic Details
Published in2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 4020 - 4027
Main Author Stephens, B.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Control systems
Force control
Hip
Humanoid robots
Humans
Intelligent robots
Pressure control
Stability
Torque control
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ISBN9781424409112
142440911X
ISSN2153-0858
DOI10.1109/IROS.2007.4399407

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Summary:This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral control, which decouples the dynamics and produces smooth torque signals. Simulation shows the controller performs better than other simple balance controllers. Because the controller is inspired by human balance strategies, we compare human motion capture and force plate data to simulation. A model tracking controller is also presented, making it possible to control complex robots using this simple control.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399407