ZMP trajectory control of a humanoid robot using different controllers based on an offline trajectory generation

Author

Aghbali, B. ; Yousefi-Koma, Aghil ; Toudeshki, Amirmasoud Ghasemi ; Shahrokhshahi, Ahmadreza

Author_Institution

Sci. in Mech. Eng., Univ. of Tehran, Tehran, Iran

fYear

2013

fDate

13-15 Feb. 2013

Firstpage

530

Lastpage

534

Abstract

In this paper a zero moment point (ZMP) trajectory of a humanoid robot model, Surena II, is presented. Humanoid stability is controlled by a PID and a fuzzy controller at two conditions, with and without the presence of external disturbance. Dynamic modeling and control implementation is performed simultaneously in the simulation. The angles of joints are set by offline method, unless the waist angle, which is the control joint and its amplitude is set by the controllers.

Keywords

fuzzy control; humanoid robots; position control; robot dynamics; stability; three-term control; PID controller; Surena II robot; ZMP trajectory control; control implementation; dynamic modeling; external disturbance; fuzzy controller; humanoid robot; humanoid stability; offline method; offline trajectory generation; proportional-integral-derivative controller; waist angle; zero moment point trajectory; Niobium; Robot sensing systems; Stability analysis; PID controller; external disturbance; fuzzy controller; humanoid stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2013 First RSI/ISM International Conference on

Conference_Location

Tehran

Print_ISBN

978-1-4673-5809-5

Type

conf

DOI

10.1109/ICRoM.2013.6510161

Filename

6510161