DYNAMIC BALANCE OF A HOPPING HUMANOID ROBOT USING A LINEARIZATION METHOD

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We describe the stabilization of a hopping humanoid robot against a disturbance. In the proposed scheme, the method of control is selected according to the size of the disturbance. A posture balance controller is used when the disturbance is small, and the posture balance controller and a foot placement method are activated together when the disturbance is large. A simplified model is used to develop the novel controller for the foot placement method, and a linearized Poincare map for single hopping is made. The control law is designed using the pole placement method. The proposed method is verified through simulation and experiment. In the experiment, HUBO2 hops well against various disturbance.
Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
Issue Date
2012-09
Language
English
Article Type
Article
Keywords

WALKING; MODEL

Citation

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.9, no.3

ISSN
0219-8436
DOI
10.1142/S021984361250020X
URI
http://hdl.handle.net/10203/102810
Appears in Collection
ME-Journal Papers(저널논문)
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