Sensor filtering for balancing of humanoid robots in highly dynamic environments

Jacky Baltes; Chris Iverach-Brereton; John Anderson

doi:10.1109/CACS.2013.6734127

Sensor filtering for balancing of humanoid robots in highly dynamic environments

Jacky Baltes, Chris Iverach-Brereton, John Anderson

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages	170-173
Number of pages	4
DOIs	https://doi.org/10.1109/CACS.2013.6734127
Publication status	Published - 2013 Dec 1
Event	2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan Duration: 2013 Dec 2 → 2013 Dec 4

Publication series

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

Other

Other	2013 CACS International Automatic Control Conference, CACS 2013
Country	Taiwan
City	Nantou
Period	13/12/2 → 13/12/4

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/CACS.2013.6734127

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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

Sensor filtering for balancing of humanoid robots in highly dynamic environments. / Baltes, Jacky; Iverach-Brereton, Chris; Anderson, John.

2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest. 2013. p. 170-173 6734127 (2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6734127, 2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest, pp. 170-173, 2013 CACS International Automatic Control Conference, CACS 2013, Nantou, Taiwan, 13/12/2. https://doi.org/10.1109/CACS.2013.6734127

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