ON THE BALANCING CONTROL OF HUMANOID ROBOT

Youngjin Choi, Doik Kim

2007

Abstract

This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoid robot. Also, we prove that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model.

References

  1. Choi, Y., Kim, D., and You, B. J. (2006). On the walking control for humanoid robot based on the kinematic resolution of com jacobian with embedded motion. Proc. of IEEE Int. Conf. on Robotics and Automation, pages 2655-2660.
  2. Kajita, S., ad M. Saigo, K. Y., and Tanie, K. (2001). Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback. Proc. of IEEE Int. Conf. on Robotics and Automation, pages 3376-3382.
  3. Sugihara, T. and Nakamura, Y. (2002). Whole-body cooperative balancing of humanoid robot uisng COG jacobian. Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 2575-2580.
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Paper Citation


in Harvard Style

Choi Y. and Kim D. (2007). ON THE BALANCING CONTROL OF HUMANOID ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 248-252. DOI: 10.5220/0001623302480252


in Bibtex Style

@conference{icinco07,
author={Youngjin Choi and Doik Kim},
title={ON THE BALANCING CONTROL OF HUMANOID ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={248-252},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001623302480252},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ON THE BALANCING CONTROL OF HUMANOID ROBOT
SN - 978-972-8865-83-2
AU - Choi Y.
AU - Kim D.
PY - 2007
SP - 248
EP - 252
DO - 10.5220/0001623302480252