Title :
Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback
Author :
KAJITA, Shuuji ; YOKOI, Kazuhito ; Saigo, Muneharu ; Tanie, Kazuo
Author_Institution :
Mech. Eng. Lab., Ibaraki, Japan
Abstract :
A balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.
Keywords :
angular momentum; control system analysis; feedback; force sensors; position control; robots; torque control; 26 DOF model; balance control method; center of gravity control; contact torque controller; direct angular momentum feedback; humanoid robot; Feedback; Feeds; Foot; Force sensors; Humanoid robots; Leg; Legged locomotion; Robot sensing systems; Springs; Torque control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933139
