NDLI: Gain scheduled control of perturbed standing balance

Content Provider	IEEE Xplore Digital Library
Author	Dengpeng Xing Atkeson, C.G. Jianbo Su Stephens, B.J.
Copyright Year	2010
Description	Author affiliation: Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA (Atkeson, C.G.; Stephens, B.J.) \|\| Department of Automation, Shanghai Jiao Tong University, China (Dengpeng Xing; Jianbo Su)
Abstract	This paper develops full-state parametric controllers for standing balance of humanoid robots in response to impulsive and constant pushes. We also explore a hypothesis that postural feedback gains in standing balance should change with perturbation size. From an engineering point of view this is known as gain scheduling. We use an optimization approach to see if feedback gains should scale with the perturbation for a simulated robot. We simulate models in the sagittal and lateral plane and in 3-dimensions, use a horizontal push of a given size, direction and location as a perturbation, and optimize parametric controllers for different push sizes, directions and locations. During a simulated perturbation experiment, the appropriate controller is continuously selected based on the current push. For an impulse, the simulated robot recovers back to the initial state; for a constant push, the robot moves to an equilibrium position which leans into the push and has zero joint torques. We show the performance of optimized parametric controllers in response to different external pushes.
Starting Page	4063
Ending Page	4068
File Size	765523
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650351
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Hip Robots Torque Knee Trajectory Optimization
Content Type	Text
Resource Type	Article

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