Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

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Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

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Monje Micharet, Concepción Alicia / Martínez de la Casa Díaz, Santiago / Pierro, Paolo / Balaguer Bernaldo de Quirós, Carlos

Abstract

One of the most important and complex tasks for a humanoid robot is to avoid overturning during a bipedal gait. This work aims at setting the base for designing a general balance controller to be used with any humanoid robot. In addition, it is based on a strong simplification of humanoid model which attempts to be used in real-time applications. In particular, several "stability zones" are defined as function of the criticalness of balance. The results are presented in simulation and experimentally, using the humanoid platforms HOAP-3 and TEO. ; The research leading to these results has received funding from the ROBOHEALTH-A project DPI2013-47944-C4-1-R, funded by the Spanish Ministry of Economy and Competitiveness, and from the RoboCity2030-III-CM project (S2013/MIT-2748), funded by Programas de Actividades I + D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.

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Document information

Title :

Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

Contributors:

Monje Micharet, Concepción Alicia (author) / Martínez de la Casa Díaz, Santiago (author) / Pierro, Paolo (author) / Balaguer Bernaldo de Quirós, Carlos (author) / Comunidad de Madrid / Ministerio de Economía y Competitividad (España)

Publication date :

2018-01-15

Remarks:

AR/0000024578

DOI :

https://doi.org/10.1080/01969722.2018.1552858

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English