A cost oriented humanoid robot motion control system

J. Baltes, P. Kopacek, M. Schörghuber

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper deals with implementation of a distributed controller for a humanoid robot. This teen sized humanoid robot Archie is currently under development. The main idea is to develop a cost oriented humanoid robot (COHR) to assist humans for their daily life. After a short description of the existing hardware, the control is described. The control is realized by a PI controller for position and velocity of each joint of humanoid robot in specific time order. The main advantage of this method is to synchronize the motion of alljoints necessary for biped walking motion. The developed controller program was first tested by simulation and implemented on the robot. The results on the real robot show the efficiency of this method for the gait motion of the robot. Finally an outlook on further work is given.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages4529-4534
Number of pages6
ISBN (Electronic)9783902823625
DOIs
Publication statusPublished - 2014 Jan 1
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: 2014 Aug 242014 Aug 29

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period14/8/2414/8/29

Keywords

  • Control architecture
  • Distributed cascade control
  • Humanoid robot
  • Motion controller

ASJC Scopus subject areas

  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'A cost oriented humanoid robot motion control system'. Together they form a unique fingerprint.

Cite this