Balance control based on Capture Point error compensation for biped walking on uneven terrain

Author

Morisawa, Masayuki ; Kajita, Shugo ; Kanehiro, Fumio ; Kaneko, Kunihiko ; Miura, Kiyotaka ; Yokoi, Katsutaka

Author_Institution

Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan

fYear

2012

fDate

Nov. 29 2012-Dec. 1 2012

Firstpage

734

Lastpage

740

Abstract

This paper tries to improve a balance control based on the Capture Point (CP) control. First the characteristics of the conventional balance controller are shown to be essentially the same as the CP controller. Then we analyze the transfer function of the balance controller. We introduce a new state variable with the CP integration to the CP and the ZMP (Zero-Moment Point) in order to trim a long term offset of the CP and the ZMP. Verification of the proposed balance controller is conducted through both simulation and experiments with a humanoid robot HRP-2[11].

Keywords

compensation; humanoid robots; legged locomotion; mechanical stability; mechanical variables control; transfer functions; CP control; HRP-2 humanoid robot; ZMP; balance control; biped walking; capture point error compensation; state variable; transfer function; zero-moment point; Attitude control; Force; Humanoid robots; Joints; Legged locomotion; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on

Conference_Location

Osaka

ISSN

2164-0572

Type

conf

DOI

10.1109/HUMANOIDS.2012.6651601

Filename

6651601