Title :
Underactuated Posture Control of Humanoid Robot
Author :
Liu, Chengjun ; Li, Zushu ; Xue, Fangzheng
Author_Institution :
Inst. of Intell. Autom., Chongqing Univ., Chongqing, China
Abstract :
Humanoid robot posture includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. The humanoid robot becomes under-actuated system in this phase. First, the dynamical model of robot is developed and the controllability of the robot is analyzed. Then, the controller can be designed based on Linear Quadratic Regulator (LQR) optimal control theory. The effectiveness of the proposed method is illustrated by simulations.
Keywords :
humanoid robots; linear quadratic control; optimal control; position control; humanoid robot; linear quadratic regulator; optimal control theory; robot controllability; robot dynamical model; underactuated posture control; Automation; Humanoid robots; Legged locomotion; Medical services; Stability analysis; Trajectory; LQR; humanoid robot; stabilization control; underactuated posture;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.616
