NDLI: Adjustment of Home Posture of Biped Humanoid Robot Using Sensory Feedback Control

Content Provider	Springer Nature Link
Author	Kim, Jung Hoon Kim, Jung Yup Oh, Jun Ho
Copyright Year	2007
Abstract	Humanoid robot dynamic walking is seriously affected by the initial home posture (walking ready posture). If the initial home posture is not accurate, the robot may fall down during walking despite using robust walking control algorithm. Moreover, the initial home posture of a real physical robot is slightly different at every setting because the zero position of the joint is not exactly the same. Therefore, an accurate and consistent initial home posture is essential when we compare and analyze walking control algorithms. In order to find a zero position, an incremental encoder with a limit switch or an absolute encoder such as a potentiometer can generally be used. However, the initial calibration of this method for a multi-axis humanoid robot that enables the desired initial sensor signal is difficult and time-consuming. Furthermore, it has the disadvantage that additional limit switches or absolute encoders can interfere with the design objective of compactness. Therefore, this paper describes a novel adjustment method of the home posture for a biped humanoid robot utilizing incremental encoders, an inertial sensor and force torque sensors. Four kinds of controllers are proposed for the adjustment of the home posture and adjusted offsets are measured when the outputs of the controllers have converged. Experimental results from KHR-2 show the effectiveness of the proposed adjustment algorithm.
Starting Page	421
Ending Page	438
Page Count	18
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	51
Issue Number	4
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2008-02-21
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Home posture Biped walking robot Practical adjustment Inertial sensor Force torque sensor Mechanical Engineering Artificial Intelligence (incl. Robotics) Electronic and Computer Engineering Automation and Robotics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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