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Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

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URI: https://hdl.handle.net/10016/30200
ISSN: 0196-9722
DOI: https://doi.org/10.1080/01969722.2018.1552858
UXXI: AR/0000024578
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whole_CS_2018_ps.pdf (810.38 KB)
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2018-01-15
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Taylor & Francis
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Abstract
One of the most important and complex tasks for a humanoid robot is to avoid overturning during a bipedal gait. This work aims at setting the base for designing a general balance controller to be used with any humanoid robot. In addition, it is based on a strong simplification of humanoid model which attempts to be used in real-time applications. In particular, several "stability zones" are defined as function of the criticalness of balance. The results are presented in simulation and experimentally, using the humanoid platforms HOAP-3 and TEO.
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Humanoid robot, Double inverted pendulum, Balance controller, Stability zones
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Monje, C. A., Martínez, S., Pierro, P. y Balaguer C. (2018). Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach. Cybernetics and Systems, 49(7-8), pp. 521-537.
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