Balance control of biped robot running with one arm in task motion

Authors:
See Myoung Choi;Je Sung Yeon;Jong Hyeon Park
Affiliations:
Hanyang University, Dept. of Mechanical Eng., Seoul, Korea;Hanyang University, Dept. of Mechanical Eng., Seoul, Korea;Hanyang University, School of Mechanical Eng., Seoul, Korea
Venue:
ACMIN'12 Proceedings of the 14th international conference on Automatic Control, Modelling & Simulation, and Proceedings of the 11th international conference on Microelectronics, Nanoelectronics, Optoelectronics
Year:
2012

Citing 3
Cited 0

Passive dynamic walking

International Journal of Robotics Research
Fuzzy neural network quadratic stabilization output feedback control for biped robots via H∞ approach

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Robust Fault-Tolerant Control for a Biped Robot Using a Recurrent Cerebellar Model Articulation Controller

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper proposes a control method for running biped robot with desired arm motion based on resolved momentum control. The focus is to maintain robot stability by using redundant degrees of freedom when running biped robot has desired arm motion. Motions for robot stability are calculated by predetermined the reference angular momentum keeping robot balance based on resolved momentum control. The reference angular momentum maintaining robot stability is determined by linear relationship with the angular momentum from constraint motions by a gradient optimization method. Under the assumption that the vertical center of mass (CoM) motion is simple hopping robot, trajectories of vertical and horizontal CoM are generated based on inverted pendulum model (IPM). A series of computer simulations of a 28-DOF biped robot showed that running of a biped robot with desired arm motions stably was successfully achieved with the proposed method.