Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach |
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Authors: | Concepción A. Monje Paolo Pierro Carlos Balaguer |
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Affiliation: | Robotics Lab, University Carlos III of Madrid, Madrid, Leganés, Spain |
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Abstract: | AbstractOne 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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Keywords: | Humanoid robot double inverted pendulum balance controller stability zones |
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