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Open AccessArticle

A Robust Balance-Control Framework for the Terrain-Blind Bipedal Walking of a Humanoid Robot on Unknown and Uneven Terrain

by Hyun-Min Joe 1 and Jun-Ho Oh 2,*
1
Department of Artificial Intelligence Machinery, Korea Institute of Machinery & Materials, 156 Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea
2
HUBO LAB, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon 34141, Korea
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(19), 4194; https://doi.org/10.3390/s19194194
Received: 24 August 2019 / Revised: 24 September 2019 / Accepted: 25 September 2019 / Published: 27 September 2019
(This article belongs to the Special Issue Sensors and Robot Control)
Research on a terrain-blind walking control that can walk stably on unknown and uneven terrain is an important research field for humanoid robots to achieve human-level walking abilities, and it is still a field that needs much improvement. This paper describes the design, implementation, and experimental results of a robust balance-control framework for the stable walking of a humanoid robot on unknown and uneven terrain. For robust balance-control against disturbances caused by uneven terrain, we propose a framework that combines a capture-point controller that modifies the control reference, and a balance controller that follows its control references in a cascading structure. The capture-point controller adjusts a zero-moment point reference to stabilize the perturbed capture-point from the disturbance, and the adjusted zero-moment point reference is utilized as a control reference for the balance controller, comprised of zero-moment point, leg length, and foot orientation controllers. By adjusting the zero-moment point reference according to the disturbance, our zero-moment point controller guarantees robust zero-moment point control performance in uneven terrain, unlike previous zero-moment point controllers. In addition, for fast posture stabilization in uneven terrain, we applied a proportional-derivative admittance controller to the leg length and foot orientation controllers to rapidly adapt these parts of the robot to uneven terrain without vibration. Furthermore, to activate position or force control depending on the gait phase of a robot, we applied gain scheduling to the leg length and foot orientation controllers, which simplifies their implementation. The effectiveness of the proposed control framework was verified by stable walking performance on various uneven terrains, such as slopes, stone fields, and lawns. View Full-Text
Keywords: balance control; biped walking; capture point; DRC-HUBO+; humanoid robot; terrain-blind walking; zero-moment point balance control; biped walking; capture point; DRC-HUBO+; humanoid robot; terrain-blind walking; zero-moment point
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    Link: https://youtu.be/4xk-UP4Qcfo
    Description: Robut balance control framework for stable walking of humanoid robot on uneven terrain
MDPI and ACS Style

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.

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