کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
714941 892193 2013 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Standing Balance Control for Position Control-Based Humanoid Robot
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Standing Balance Control for Position Control-Based Humanoid Robot
چکیده انگلیسی

This work presents a standing balance control method against external disturbance for the position control-based humanoid robot. The method consists of a simple but effective posture estimator, a state machine based on capture point and a virtual model exhibiting the variable compliance. The posture estimator appraises the influence of external disturbances. The state machine switches the strategies for humanoid push recovery. The virtual model applied on position-based robot enables the robot to have both obedience and resistance to the external force in the stable state. The proposed method was tested on a position control-based humanoid robot “KONG” with 14 degrees of freedom. Experiments and related data show the humanoid robot “KONG” has perfect balance performance for various external force disturbances.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 46, Issue 20, 2013, Pages 429-436