A nonlinear PID stabilizer with spherical projection for Humanoids: From concept to real-time experiments

Author

Galdeano, David ; Chemori, Ahmed ; Knit, Sebastien ; Fraisse, Philippe

Author_Institution

LIRMM, Univ. Montpellier 2, Montpellier, France

fYear

2014

fDate

18-20 Nov. 2014

Firstpage

693

Lastpage

698

Abstract

This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid robots. The proposed solution is based on a nonlinear PID regulation of the ZMP, coupled with a spherical projection in the CoM´s control space. The result of such a stabilizer is a dynamically stable motion, even with large variations in the inclination of the ground. The effectiveness of this new stabilizer has been demonstrated through real-time experiments on the humanoid robot HOAP-3. The produced motion is smooth and dynamically stable.

Keywords

humanoid robots; motion control; nonlinear control systems; robot dynamics; robot kinematics; stability; three-term control; HOAP-3; ZMP; dynamically stable motion; humanoid robots; hybrid kinematic-dynamic control scheme; nonlinear PID regulation; nonlinear PID stabilizer; real-time experiments; smooth motion; spherical projection; Humanoid robots; Legged locomotion; Robot kinematics; Robot sensing systems; Stability analysis; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on

Conference_Location

Madrid

Type

conf

DOI

10.1109/HUMANOIDS.2014.7041438

Filename

7041438