Human inspired control of a small humanoid robot in highly dynamic environments or Jimmy Darwin rocks the bongo board

Jacky Baltes, Chris Iverach-Brereton, John Anderson

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

2 Citations (Scopus)

Abstract

This paper describes three human-inspired approaches to balancing in highly dynamic environments. In this particular work, we focus on balancing on a bongo board - a common device used for human balance and coordination training - as an example of a highly dynamic environment. The three approaches were developed to overcome limitations in robot hardware. Starting with an approach based around a simple PD controller for the centre of gravity, we then move to a hybrid control mechanism that uses a predictive control scheme to overcome limitation in sensor sensitivity, noise, latency, and jitter. Our third control approach attempts to maintain a dynamically stable limit cycle rather than a static equilibrium point, in order to overcome limitations in the speed of the actuators. The humanoid robot Jimmy is now able to balance for several seconds and can compensate for external disturbances (e.g., the bongo board hitting the table). A video of the robot Jimmy balancing on the bongo board can be found at http://youtu.be/ia2ZYqqF-lw.

Original languageEnglish
Title of host publicationRoboCup 2014 - Robot World Cup XVIII
EditorsKomei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
PublisherSpringer Verlag
Pages466-477
Number of pages12
ISBN (Electronic)9783319186146
DOIs
Publication statusPublished - 2015 Jan 1
Event18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, Brazil
Duration: 2014 Jul 192014 Jul 24

Publication series

NameLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Volume8992
ISSN (Print)0302-9743

Other

Other18th Annual RoboCup International Symposium, RoboCup 2014
CountryBrazil
CityJoao Pessoa
Period14/7/1914/7/24

Fingerprint

Humanoid Robot
Dynamic Environment
Balancing
Rocks
Robots
Robot
Hybrid Control
Centre of gravity
Predictive Control
Jitter
Equilibrium Point
Limit Cycle
Latency
Actuator
Table
Gravitation
Actuators
Disturbance
Hardware
Controller

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Baltes, J., Iverach-Brereton, C., & Anderson, J. (2015). Human inspired control of a small humanoid robot in highly dynamic environments or Jimmy Darwin rocks the bongo board. In K. Sugiura, H. Levent Akin, R. A. C. Bianchi, & S. Ramamoorthy (Eds.), RoboCup 2014 - Robot World Cup XVIII (pp. 466-477). (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); Vol. 8992). Springer Verlag. https://doi.org/10.1007/978-3-319-18615-3_38

Human inspired control of a small humanoid robot in highly dynamic environments or Jimmy Darwin rocks the bongo board. / Baltes, Jacky; Iverach-Brereton, Chris; Anderson, John.

RoboCup 2014 - Robot World Cup XVIII. ed. / Komei Sugiura; H. Levent Akin; Reinaldo A.C. Bianchi; Subramanian Ramamoorthy. Springer Verlag, 2015. p. 466-477 (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); Vol. 8992).

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

Baltes, J, Iverach-Brereton, C & Anderson, J 2015, Human inspired control of a small humanoid robot in highly dynamic environments or Jimmy Darwin rocks the bongo board. in K Sugiura, H Levent Akin, RAC Bianchi & S Ramamoorthy (eds), RoboCup 2014 - Robot World Cup XVIII. Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science), vol. 8992, Springer Verlag, pp. 466-477, 18th Annual RoboCup International Symposium, RoboCup 2014, Joao Pessoa, Brazil, 14/7/19. https://doi.org/10.1007/978-3-319-18615-3_38
Baltes J, Iverach-Brereton C, Anderson J. Human inspired control of a small humanoid robot in highly dynamic environments or Jimmy Darwin rocks the bongo board. In Sugiura K, Levent Akin H, Bianchi RAC, Ramamoorthy S, editors, RoboCup 2014 - Robot World Cup XVIII. Springer Verlag. 2015. p. 466-477. (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)). https://doi.org/10.1007/978-3-319-18615-3_38
Baltes, Jacky ; Iverach-Brereton, Chris ; Anderson, John. / Human inspired control of a small humanoid robot in highly dynamic environments or Jimmy Darwin rocks the bongo board. RoboCup 2014 - Robot World Cup XVIII. editor / Komei Sugiura ; H. Levent Akin ; Reinaldo A.C. Bianchi ; Subramanian Ramamoorthy. Springer Verlag, 2015. pp. 466-477 (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)).
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