Model-free active balancing for humanoid robots

Sara McGrath, John Anderson, Jacky Baltes

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

To be practical, humanoid robots must be able to manoeuvre over a variety of flat and uneven terrains, at different speeds and with varying gaits and motions. 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 to study the capabilities and limitations of various balancing algorithms when combined with a single sensor. We term this 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 (e.g. controlling multiple joints over uneven terrain), the need for more sophisticated algorithms becomes apparent.

原文英語
主出版物標題RoboCup 2008
主出版物子標題Robot Soccer World Cup XII
頁面544-555
頁數12
DOIs
出版狀態已發佈 - 2009 九月 28
事件12th annual RoboCup International Symposium, RoboCup 2008 - Suzhou, 中国
持續時間: 2008 七月 152008 七月 18

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
5399 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他12th annual RoboCup International Symposium, RoboCup 2008
國家中国
城市Suzhou
期間2008/07/152008/07/18

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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