Name
Title | ||
|---|---|---|
Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids |
Abstract | ||
|---|---|---|
We propose a methodology for dynamically balancing passive-ankled bipeds and full humanoids. As dynamic locomotion without ankle-actuation is more difficult than with actuated feet, our control scheme adopts an efficient whole-body controller that combines inverse kinematics, contact-consistent feed-forward torques, and low-level motor position controllers. To understand real-world sensing and controller requirements, we perform an uncertainty analysis on the linear-inverted-pendulum (LIP)-based footstep planner. This enables us to identify necessary hardware and control refinements to demonstrate that our controller can achieve long-term unsupported dynamic balancing on our series-elastic biped, Mercury. Through simulations, we also demonstrate that our control scheme for dynamic balancing with passive-ankles is applicable to full humanoid robots. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/HUMANOIDS.2018.8624915 | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
dynamic balancing,motor position controllers,linear-inverted-pendulum-based footstep planner,uncertainty analysis,contact-consistent feed-forward torques,whole-body controller,ankle-actuation,dynamic locomotion,full humanoids,passive-ankled bipeds | Control theory,Torque,Inverse kinematics,Control theory,Computer science,Uncertainty analysis,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-5386-7284-6 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Donghyun Kim | 1 | 16 | 3.89 |
| Steven Jens Jorgensen | 2 | 3 | 1.41 |
| Hochul Hwang | 3 | 0 | 0.34 |
| Luis Sentis | 4 | 574 | 59.74 |