NDLI: Contact phase invariant control for humanoid robot based on variable impedant inverted pendulum model

Content Provider	IEEE Xplore Digital Library
Author	Sugihara, T. Nakamura, Y.
Copyright Year	2003
Description	Author affiliation: Dept. of Mechano-Informatics, Tokyo Univ., Japan (Sugihara, T.)
Abstract	Being expected as the utilities in the future, humanoid robots should be given much higher mobility. A seamless transition between contact and aerial phase is essential to behave robustly against disturbance in the real environment, and to expand the range of their activities and perform a variety of motion. Manipulation of both the contact condition and the external force is the key issue to enhance the mobility of humanoids since they are driven by the external force converted from the inner force through the interaction with the environment. The difficulty lies on the complexity of their dynamics so that they consist of number of degrees of freedom and their structures vary in accordance with contact phase transition. We propose variable impedant inverted pendulum (VIIP) model control, which allows one to handle the external force rather easily. The advantage of the proposed is that it is invariant on contact phase so that both cases in contact and in aerial are treated in the unified way. It also reduces the amount of computation. Thus, quick responsive motion of the robot can be practically achieved. We verified the effect of the controller in computer simulation, using a small humanoid robot model.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	51
Ending Page	56
File Size	375088
Page Count	6
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241572
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Humanoid robots Impedance Motion control Robustness Computer simulation Legged locomotion Shape Humans Motion planning
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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