A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain
Abstract
:1. Introduction
2. Control Framework and Robot System
2.1. Balance Control Framework
2.2. Robot System
3. Stabilization of the CoM
3.1. Previous ZMP Control
3.2. ZMP Controller with Capture-Point Feedback
4. Stabilization of Posture
4.1. Leg Length Control for Adaptation to Terrain Elevation in the Double Support Phase
4.2. Foot Orientation Control for Adaptation to Ground Slope
5. Experiments and Results
5.1. Hardware Implementation for Real-Time Control
5.2. Balance Control under Varying Slope
5.3. Terrain-Blind Walking on Uneven Terrain
5.4. Terrain-Blind Walking on a Stony Area and a Lawn
6. Conclusions and Future Work
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
References
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Item | Description | |
---|---|---|
Height | 170 [cm] | |
Weight | 80 [kg] | |
Degree of freedom (DOF) | Total | 32 DOFs |
Arm | 2 Arms × 7 DOFs | |
Hand | 2 Hands × 1 DOF | |
Waist | 1 DOF | |
Leg | 2 Legs × 6 DOFs | |
Wheel | 2 Wheels × 1 DOF | |
Head | 1 DOF | |
Actuators | 200 [W], 100 [W] BLDC/DC Motor | |
Sensors | 3-axis fiber-optics gyro, 3-axis inertia measurement unit (IMU) | |
Power | DC voltage: 48 [V], Capacity: 11.4 [Ah] |
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Joe, H.-M.; Oh, J.-H. A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain. Sensors 2019, 19, 4194. https://doi.org/10.3390/s19194194
Joe H-M, Oh J-H. A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain. Sensors. 2019; 19(19):4194. https://doi.org/10.3390/s19194194
Chicago/Turabian StyleJoe, Hyun-Min, and Jun-Ho Oh. 2019. "A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain" Sensors 19, no. 19: 4194. https://doi.org/10.3390/s19194194