Active balancing reflexes for small humanoid robots

Sara McGrath, Hansjoerg (Jacky) Baltes, John E. Anderson

研究成果: 書貢獻/報告類型會議貢獻

1 引文 斯高帕斯(Scopus)

摘要

This paper describes three balancing-reflex algorithms (threshold control, PID control, and hybrid control) that were implemented on a real 8 DOF small humanoid robot equipped with a two-axis accelerometer sensor. We term our approach a model-free approach, since it does not require a mathematical model of the underlying robot. Instead the controller attempts to recreate successful previous motions (so-called baseline motions). In our extensive tests, the basic threshold algorithm proves the most effective overall. All algorithms are able to balance for simple tasks, but as the balancing required becomes more complex (ie, controlling multiple joints over uneven terrain), the need for more sophisticated algorithms becomes apparent.

原文英語
主出版物標題Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
版本1 PART 1
DOIs
出版狀態已發佈 - 2008 十二月 1
事件17th World Congress, International Federation of Automatic Control, IFAC - Seoul, 大韓民國
持續時間: 2008 七月 62008 七月 11

出版系列

名字IFAC Proceedings Volumes (IFAC-PapersOnline)
號碼1 PART 1
17
ISSN(列印)1474-6670

其他

其他17th World Congress, International Federation of Automatic Control, IFAC
國家大韓民國
城市Seoul
期間08/7/608/7/11

    指紋

ASJC Scopus subject areas

  • Control and Systems Engineering

引用此

McGrath, S., Baltes, H. J., & Anderson, J. E. (2008). Active balancing reflexes for small humanoid robots. 於 Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 編輯). (IFAC Proceedings Volumes (IFAC-PapersOnline); 卷 17, 編號 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.2687