DocumentCode
2989232
Title
Underactuated Posture Control of Humanoid Robot
Author
Liu, Chengjun ; Li, Zushu ; Xue, Fangzheng
Author_Institution
Inst. of Intell. Autom., Chongqing Univ., Chongqing, China
fYear
2010
fDate
25-27 June 2010
Firstpage
2490
Lastpage
2493
Abstract
Humanoid robot posture includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. The humanoid robot becomes under-actuated system in this phase. First, the dynamical model of robot is developed and the controllability of the robot is analyzed. Then, the controller can be designed based on Linear Quadratic Regulator (LQR) optimal control theory. The effectiveness of the proposed method is illustrated by simulations.
Keywords
humanoid robots; linear quadratic control; optimal control; position control; humanoid robot; linear quadratic regulator; optimal control theory; robot controllability; robot dynamical model; underactuated posture control; Automation; Humanoid robots; Legged locomotion; Medical services; Stability analysis; Trajectory; LQR; humanoid robot; stabilization control; underactuated posture;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location
Wuhan
Print_ISBN
978-1-4244-6880-5
Type
conf
DOI
10.1109/iCECE.2010.616
Filename
5630342
Link To Document