NDLI: Optimal ankle compliance regulation for humanoid balancing control

Content Provider	IEEE Xplore Digital Library
Author	Mosadeghzad, M. Zhibin Li Tsagarakis, N.G. Medrano-Cerda, G.A. Dallali, H. Caldwell, D.G.
Copyright Year	2013
Description	Author affiliation: Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy (Mosadeghzad, M.; Zhibin Li; Tsagarakis, N.G.; Medrano-Cerda, G.A.; Dallali, H.; Caldwell, D.G.)
Abstract	Keeping balance is the main concern for humanoids in standing and walking tasks. This paper endeavors to acquire optimal ankle stabilization methods for humanoids with passive and active compliance and explain ankle balancing strategy from the compliance regulation perspective. Unlike classical stiff humanoids, the compliant ones can control both impedance and position during task operation. Optimal compliance regulation is resolved to maximize the stability of the humanoids. The linearized model is proposed to obtain the optimal ankle impedance for stabilizing against impacts. The nonlinear model is proposed as well and compared with the linear one. The proposed methods are validated by experiments on an intrinsically compliant humanoid using passivity based admittance and impedance controllers both in joint and Cartesian space.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	4118
Ending Page	4123
File Size	930206
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696946
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Damping Robots Impedance Mathematical model Torque Equations Foot
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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