Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation
| Autor: | Alikhan Yessaly, Giuseppina Gini, Michele Folgheraiter, Galym Kaliyev, Sharafatdin Yessirkepov, Artemiy Oleinikov, Asset Yskak |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Control algorithm Computer science 020208 electrical & electronic engineering PID controller 02 engineering and technology Kinematics Force sensor 020901 industrial engineering & automation Center of pressure (terrestrial locomotion) Control theory Control system 0202 electrical engineering electronic engineering information engineering Robot Biped robot |
| Zdroj: | Humanoids |
| DOI: | 10.1109/humanoids.2018.8625016 |
| Popis: | This paper presents a computational efficient balance control algorithm developed for a lightweight biped. A LIP model of the robot is combined with the ZMP calculation to derive a joint space control action based on a PD controller. Furthermore, a method is implemented to estimate the ZMP directly from the center of pressure measured using the force sensors installed under the feet of the robot. This, allows a real time implementation of the controller without using the robot direct kinematics, reducing model inaccuracies and improving the controller reactivity. Simulation results and tests on the real robot prototype shows that the control system is able to compensate for external disturbances forces up to 10N reducing the oscillations of 60%. |
| Databáze: | OpenAIRE |
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