Title :
A Real-time Control Method for Humanoid Robot to Walk Stably on Uneven Ground
Author :
Shuai, Mei ; Fu, Chenglong ; Chen, Ken
Author_Institution :
Dept. of Mechatronics Eng., Beihang Univ., Beijing
Abstract :
To solve the problem that a humanoid robot is prone to tip over while walking on uneven ground, this paper presents an online regulating control algorithm based on the Kane collision theory. The algorithm, which introduces a new physical quantity named "generalized speed", can reduce second-order differential equation to first-order ordinary differential equation, and shorten the time of calculation. We adopt the offline gait pattern generated by Lagrange dynamic model to control the humanoid walking on level ground. When the robot lands on uneven ground surfaces, we first calculate the foot impact force using the Kane regulating algorithm and then use this information to adjust the gait of the legs and the torso in order to ensure a stable walk on the uneven ground. The effectiveness of the proposed algorithm was verified by walking simulations on a 5-link humanoid model under the Matlab/Simulink environment
Keywords :
collision avoidance; differential equations; humanoid robots; robot dynamics; Kane collision theory; Kane regulating algorithm; Lagrange dynamic model; differential equation; foot impact force; humanoid robot; offline gait pattern; online regulating control algorithm; real-time control method; uneven ground surface; Differential equations; Foot; Humanoid robots; Kinetic theory; Leg; Legged locomotion; Mathematical model; Mechanical engineering; Robot kinematics; Torso; Kane collision theory; control strategy; humanoid robot; walking on uneven ground;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252687
