NDLI: Dynamic balance of humanoid robot using pose classification with incremental proportional derivative dead-zone control

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Chia-Hsien Wu Bo-Lin Chen
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan (Chih-Lyang Hwang; Chia-Hsien Wu; Bo-Lin Chen)
Abstract	In the beginning, a dynamic sensing system including the hardware and the low-pass and Kalman filtering is designed. It is then installed at the center of gravity (CoG) of the humanoid robot (HR) and can capture the responses of the pitch and roll axes during the execution of specific task. After the analytic design, a set of desired pitch and roll trajectory for a specific task is achieved. In addition, the 3D coordinates of four tips (i.e., two hands and feet) with respect to the neck and waist centers of HR are computed by the kinematics of 4-DoFs of two arms and 6-DoFs of two legs. Based on these 3D coordinate, the total 36 classes are achieved. Without measuring the contact force of two feet, without unnecessarily interfering the original task, the incremental proportion-derivative dead-zone control of the pitch and roll directions for each class is designed by the control of different suitable motors. It is cost-effective as compared with other methods. Finally, the experiments of continuous walking motion in the presence of external disturbances are presented to evaluate the effectiveness and robustness of the proposed method.
Sponsorship	IEEE
Starting Page	003393
Ending Page	003398
File Size	607288
Page Count	6
File Format	PDF
e-ISBN	9781479917624
DOI	10.1109/IECON.2015.7392624
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humanoid robots Foot Robot sensing systems Dynamics Legged locomotion Kalman filters Incremental proportional-derivative dead-zone control Active dynamic balance Continuous walking motion of humanoid robot Low-pass filtering Kalman filtering Pose classification
Content Type	Text
Resource Type	Article

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