A sensory reflexive control for humanoid walking

Author

Huang, Qiang ; Wuang, Guang ; Li, Kejie

Author_Institution

Dept. of Mechatronics, Beijing Inst. of Technol., China

Volume

4

fYear

2002

fDate

2002

Firstpage

3256

Abstract

Since a biped humanoid inherently suffers from instability and always risks tipping over, ensuring high stability and reliability of its walk is one of the most important goals. The paper proposes a sensory reflexive control for humanoid walking. The sensory reflex is a simple, but rapid motion programmed in respect to sensory information. The sensory reflex, we propose in the paper, consists of body posture control, zero moment point control, and landing time control. With the sensory reflex, it is possible for the humanoid to adapt itself to environmental uncertainties. The effectiveness of our proposed method was confirmed by walk experiments of an actual 26 DOF humanoid on an unknown rough terrain and in the presence of disturbances.

Keywords

feedback; feedforward; legged locomotion; position control; stability; body posture control; high stability; humanoid walking; landing time control; rapid motion; sensory reflexive control; unknown rough terrain; walk reliability; zero moment point control; Biological system modeling; Feedback; Hip; Leg; Legged locomotion; Mechatronics; Mobile robots; Robot control; Robot sensing systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on

Print_ISBN

0-7803-7268-9

Type

conf

DOI

10.1109/WCICA.2002.1020136

Filename

1020136