Title :
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
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;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2013 First RSI/ISM International Conference on
Conference_Location :
Tehran
Print_ISBN :
978-1-4673-5809-5
DOI :
10.1109/ICRoM.2013.6510161
