Balancing and posture controls for biped robots with unmodelled dynamics

Authors:
Zhijun Li;Shuzhi Sam Ge
Affiliations:
Department of Automation, Shanghai Jiao Tong University, Shanghai, China;Robotics Institute, and School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu, China, Department of Electrical and Computer Engineering, The ...
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part I
Year:
2012

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Abstract

This paper presents a structure of robust adaptive control for biped robots which includes balancing and posture control for regulating the center of mass position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of center of mass (COM) and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilize the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. The verification of the proposed control is conducted using the extensive simulations.