Balance Control of Humanoid Robot with Foot Rotation
Balance maintenance under unexpected environ ment is a key requirement for safe and successful coexistence of humanoid robots in normal human environments. The motion of a humanoid robot includes a phase where the stance foot rotates about the stance toe when the humanoid robot comes to a small object on the ground. The equation of motion has the form of an underactuated system in this phase. The objective of this study is to propose a control strategy for preventing the humanoid robot from tipping over. First, the dynamical model of robot in the sagittal plane is employed and the controllability of the robot is analyzed. Then, the controller can be designed based on Linear Quadratic Regulator (LQR) optimal control theory. Simulation result shows the effectiveness of the proposed method.
humanoid robot underactuated posture balance stabilization control
Chengjun Liu Zushu Li
Institute of Intelligent Automation Chongqing University Chongqing, China
国际会议
长沙
英文
850-853
2010-05-11（万方平台首次上网日期，不代表论文的发表时间）