Adaptive Dynamic Balance Control of Humanoid Robot Based on Leg Joints

被引：0

作者：

Yang, Liang ^{[1
,2
]}

Liang, Ruishi ^{[1
]}

Fu, Yu ^{[1
]}

Fu, Genping ^{[3
]}

Tian, Bo ^{[4
]}

机构：

[1] Univ Elect Sci & Technol China, Sch Comp Engn, Zhongshan Inst, Zhongshan 528402, Peoples R China

[2] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China

[3] Zhongkai Univ Agr & Engn, Sch Automat, Guangzhou 510225, Guangdong, Peoples R China

[4] Tongren Univ, Sch Informat Engn, Tongren 554300, Peoples R China

来源：

2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2015年

关键词：

Dynamic Balance; Yaw Moment; Humanoid Robot; Moment Compensation; MOTION; ZMP;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the problems of the dynamic balance and high energy consumption for humanoid robot. Considering the influence on stability caused by the undesired yaw moment, a novel adaptive dynamic balance control based on leg joints is proposed. According to the moment balance conditions and the analysis about the mechanism resulting in yaw moment, the optimal leg joints angles trajectories is proposed to counteract the yaw moment caused by the movement of humanoid robot. Given the optimized leg joints angles motion, an adaptive control system is proposed to track the desired trajectories with model uncertainties and the stability proof is provided. Simulation results validate the proposed method.

引用

页码：6153 / 6157

页数：5

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