Paper Info
Title
A momentum-based balance controller for humanoid robots on non-level and non-stationary ground.
Abstract
Recent research suggests the importance of controlling rotational dynamics of a humanoid robot in balance maintenance and gait. In this paper, we present a novel balance strategy that controls both linear and angular momentum of the robot. The controller’s objective is defined in terms of the desired momenta, allowing intuitive control of the balancing behavior of the robot. By directly determining the ground reaction force (GRF) and the center of pressure (CoP) to realize the desired momenta, this strategy can deal with non-level and non-stationary grounds, as well as different frictional properties . When the robot cannot realize the desired values of linear and angular momenta simultaneously, the controller attributes higher priority to linear momentum at the cost of compromising angular momentum. This creates a large rotation of the upper body, reminiscent of the balancing behavior of humans. We develop a computationally efficient method to optimize GRFs and CoPs at individual foot by sequentially solving two small-scale constrained linear least-squares problems. The balance strategy is demonstrated on a simulated humanoid robot under experiments such as recovery from unknown external pushes and balancing on non-level and moving supports.
Year
DOI
Venue
2012
10.1007/s10514-012-9294-z
Auton. Robots
Keywords
Field
DocType
Humanoid robot balance,Linear and angular momentum,Non-level ground,Momentum control,Centroidal momentum matrix
Angular momentum,Control theory,Computer science,Simulation,Center of pressure (fluid mechanics),Ground reaction force,Momentum,Robot,Perturbation (astronomy),Humanoid robot
Journal
Volume
Issue
ISSN
33
4
0929-5593
Citations 
PageRank 
References 
53
2.21
38
Authors
2
Name
Order
Citations
PageRank
Sung-Hee Lee1969.14
Sung-Hee Lee233424.19