Title :
Standing balance control using a trajectory library
Author :
Liu, Chenggang ; Atkeson, Christopher G.
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
This paper presents a standing balance controller that explicitly handles pushes. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to the optimal control. We take advantage of a parametric nonlinear optimization method, SNOPT, to generate initial trajectories and then use Differential Dynamic Programming (DDP) to further refine them and get their neighboring optimal control. A library generation method is proposed, which keeps the trajectory library to a reasonable size. We compare the proposed controller with an optimal controller and an LQR based gain scheduling controller using the same optimization criterion. Simulation results demonstrate the performance of the proposed method.
Keywords :
dynamic programming; humanoid robots; linear quadratic control; nonlinear programming; position control; scheduling; LQR; SNOPT; differential dynamic programming; gain scheduling controller; library generation method; optimal control method; optimal trajectory; parametric nonlinear optimization method; standing balance controller; trajectory library; Control systems; Dynamic programming; Hip; Humanoid robots; Humans; Libraries; Optimal control; Optimization methods; Robotics and automation; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354018