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

研究成果: 書貢獻/報告類型會議貢獻

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題RoboCup 2014 - Robot World Cup XVIII
編輯Komei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
發行者Springer Verlag
頁面466-477
頁數12
ISBN(電子)9783319186146
DOIs
出版狀態已發佈 - 2015 一月 1
事件18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, 巴西
持續時間: 2014 七月 192014 七月 24

出版系列

名字Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
8992
ISSN(列印)0302-9743

其他

其他18th Annual RoboCup International Symposium, RoboCup 2014
國家巴西
城市Joao Pessoa
期間14/7/1914/7/24

    指紋

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

引用此

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. 於 K. Sugiura, H. Levent Akin, R. A. C. Bianchi, & S. Ramamoorthy (編輯), RoboCup 2014 - Robot World Cup XVIII (頁 466-477). (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); 卷 8992). Springer Verlag. https://doi.org/10.1007/978-3-319-18615-3_38