Sensor filtering for balancing of humanoid robots in highly dynamic environments

Jacky Baltes, Chris Iverach-Brereton, John Anderson

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

5 Citations (Scopus)

Abstract

This paper is part of our on-going research in balancing of humanoid robots in highly dynamic environments. We focus on balancing of a humanoid robot on a Bongo board. One of the problems with balancing in highly dynamic environments such as the Bongo board is the fact that any control algorithm needs to overcome the inherent latency and jitter in the sensors as well as in the actuators of the robot, since it has very little time to react to disturbances. The sensor filter method described in this paper allows the robot Jimmy (a DARwIn-OP robot) to balance for several seconds on a Bongo board. A video of the robot Jimmy balancing on the Bongo board can be found at http://www.youtube.com/watch?v= ia2ZYqqF-lw.

Original languageEnglish
Title of host publication2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages170-173
Number of pages4
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
Duration: 2013 Dec 22013 Dec 4

Publication series

Name2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Other

Other2013 CACS International Automatic Control Conference, CACS 2013
CountryTaiwan
CityNantou
Period13/12/213/12/4

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Baltes, J., Iverach-Brereton, C., & Anderson, J. (2013). Sensor filtering for balancing of humanoid robots in highly dynamic environments. In 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest (pp. 170-173). [6734127] (2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest). https://doi.org/10.1109/CACS.2013.6734127