Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces
| Autor: | Sheng-Ru Xiao, Yi-Yang Lin, Tsu-Tian Lee, Ching-Chang Wong, Chih-Cheng Liu, Yi-Chung Lin |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
linear inverted pendulum model
0209 industrial biotechnology Computer science 02 engineering and technology Accelerometer lcsh:Technology Flywheel law.invention Inverted pendulum lcsh:Chemistry 020901 industrial engineering & automation Control theory law Gate array field-programmable gate array (FPGA) 0202 electrical engineering electronic engineering information engineering General Materials Science Instrumentation lcsh:QH301-705.5 Fluid Flow and Transfer Processes Inverse kinematics humanoid robot lcsh:T Process Chemistry and Technology 020208 electrical & electronic engineering General Engineering balance control Gyroscope lcsh:QC1-999 Computer Science Applications push recovery lcsh:Biology (General) lcsh:QD1-999 lcsh:TA1-2040 Robot lcsh:Engineering (General). Civil engineering (General) Humanoid robot lcsh:Physics |
| Zdroj: | Applied Sciences, Vol 10, Iss 2699, p 2699 (2020) Applied Sciences Volume 10 Issue 8 |
| ISSN: | 2076-3417 |
| Popis: | In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detection, (2) push recovery balance control, (3) trajectory planning, and (4) inverse kinematics. The proposed method is implemented on the FPGA chip so that it can quickly respond to keep the small-sized humanoid robot balanced when it is pushed by external forces. A gyroscope and an accelerometer are used to detect the inclination angle of the robot. When the robot is under the action of an external force, an excessively large inclination angle may be produced, causing it to lose its balance. A linear inverted pendulum with a flywheel model is employed to estimate a capture point where the robot should step to maintain its balance. In addition, the central pattern generators (CPGs) with a sinusoidal function are adopted to plan the stepping trajectories. Some experimental results are presented to illustrate that the proposed real-time balance control method can effectively enable the robot to keep its balance to avoid falling down. |
| Databáze: | OpenAIRE |
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