Paper Info
Title
A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers
Abstract
This paper presents a control scheme that is directed towards the performance of push recovery on the compliant humanoid robot, COMAN. The novelty offered by this work is related to the use of a decentralized controller based on an initial Limited Quadratic Regulator (LQR) design on a humanoid robot in addition to the regulation of the actual joint positions instead of the motor positions. Moreover, the ankle-knee strategy is examined through the use of a compliant double inverted pendulum model. A key feature of the propounded approach lies in the controller's ability to regulate the system's inherently compliant dynamics through considering not only the motor-related variables but also those of the link-side, appearing after the passive compliant element. Consequently, this leads to a control method that is capable of stabilizing the robot by means of increasing the damping on the link, which is essential given the system's oscillatory behaviour once it has been perturbed.
Year
DOI
Venue
2013
10.1109/ICMECH.2013.6518581
Mechatronics
Keywords
Field
DocType
compliant mechanisms,damping,decentralised control,humanoid robots,legged locomotion,nonlinear control systems,optimal control,pendulums,perturbation theory,robot dynamics,stability,coman,ankle-knee strategy,compliant double inverted pendulum model,compliant dynamics,decentralized lqr controllers,joint position regulation,limited quadratic regulator design,link damping,link-side variables,motor-related variables,passive compliant element,passively compliant humanoid robot,push recovery strategy,robot stabilization,system oscillatory behaviour,humanoid,passive compliance
Compliant mechanism,Control theory,Optimal control,Control theory,Quadratic equation,Control engineering,Engineering,Robot,Pendulum,Double inverted pendulum,Humanoid robot
Conference
ISBN
Citations 
PageRank 
978-1-4673-1387-2
2
0.40
References 
Authors
20
5
Name
Order
Citations
PageRank
emmanouil spyrakospapastavridis121.07
Gustavo A. Medrano-Cerda227834.32
NG Tsagarakis31492159.09
Jian S. Dai417830.53
Darwin G. Caldwell52900319.72