Title :
Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN
Author :
Perrin, Nicolas ; Tsagarakis, Nikos ; Caldwell, D.G.
Author_Institution :
Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy
Abstract :
In this paper we describe an approach for hu-manoid robot balance recovery that combines a novel attitude control algorithm adding compliance to the robot´s behavior and increasing the smoothness of its motion, and an omnidirectional stepping strategy that can trigger one or two steps based on a measured disturbance vector. The proposed method is validated through experiments with the inherently compliant humanoid COMAN.
Keywords :
attitude control; compliance control; humanoid robots; compliant attitude control algorithm; compliant humanoid COMAN; humanoid robot balance recovery; measured disturbance vector; omnidirectional stepping strategy; robot behavior; Attitude control; Foot; Humanoid robots; Legged locomotion; Robot sensing systems; Vectors;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696950