Paper Info
Title
Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation
Abstract
This paper presents a computational efficient balance control algorithm developed for a lightweight biped. A LIP model of the robot is combined with the ZMP calculation to derive a joint space control action based on a PD controller. Furthermore, a method is implemented to estimate the ZMP directly from the center of pressure measured using the force sensors installed under the feet of the robot. This, allows a real time implementation of the controller without using the robot direct kinematics, reducing model inaccuracies and improving the controller reactivity. Simulation results and tests on the real robot prototype shows that the control system is able to compensate for external disturbances forces up to 10N reducing the oscillations of 60%.
Year
DOI
Venue
2018
10.1109/HUMANOIDS.2018.8625016
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Keywords
Field
DocType
robot direct kinematics,controller reactivity,robot prototype,control system,computational efficient balance control,sensor based ZMP estimation,ZMP calculation,joint space control action,PD controller,force sensors,lightweight biped robot
Control algorithm,Control theory,Kinematics,PID controller,Computer science,Control theory,Center of pressure (fluid mechanics),Control system,Robot
Conference
ISSN
ISBN
Citations 
2164-0572
978-1-5386-7284-6
0
PageRank 
References 
Authors
0.34
6
7
Name
Order
Citations
PageRank
Michele Folgheraiter14411.96
Alikhan Yessaly200.34
Galym Kaliyev300.34
Asset Yskak400.34
Sharafatdin Yessirkepov500.34
Artemiy Oleinikov610.70
Giuseppina Gini713336.39