Balance Control of Humanoid Robot with Foot Rotation

Author

Liu, Chengjun ; Li, Zushu

Author_Institution

Inst. of Intell. Autom., Chongqing Univ., Chongqing, China

Volume

1

fYear

2010

fDate

11-12 May 2010

Firstpage

850

Lastpage

853

Abstract

Balance maintenance under unexpected environment is a key requirement for safe and successful coexistence of humanoid robots in normal human environments. The motion of a humanoid robot includes a phase where the stance foot rotates about the stance toe when the humanoid robot comes to a small object on the ground. The equation of motion has the form of an underactuated system in this phase. The objective of this study is to propose a control strategy for preventing the humanoid robot from tipping over. First, the dynamical model of robot in the sagittal plane is employed and the controllability of the robot is analyzed. Then, the controller can be designed based on Linear Quadratic Regulator (LQR) optimal control theory. Simulation result shows the effectiveness of the proposed method.

Keywords

controllability; humanoid robots; legged locomotion; linear quadratic control; motion control; balance control; equation of motion; foot rotation; humanoid robot; linear quadratic regulator; optimal control; robot controllability; tipping; Automatic control; Foot; Humanoid robots; Humans; Intelligent robots; Legged locomotion; Optimal control; Robot control; Robotics and automation; Stability criteria; humanoid robot; posture balance; stabilization control; underactuated;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computation Technology and Automation (ICICTA), 2010 International Conference on

Conference_Location

Changsha

Print_ISBN

978-1-4244-7279-6

Electronic_ISBN

978-1-4244-7280-2

Type

conf

DOI

10.1109/ICICTA.2010.444

Filename

5522614