DocumentCode
3233440
Title
Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback
Author
KAJITA, Shuuji ; YOKOI, Kazuhito ; Saigo, Muneharu ; Tanie, Kazuo
Author_Institution
Mech. Eng. Lab., Ibaraki, Japan
Volume
4
fYear
2001
fDate
2001
Firstpage
3376
Abstract
A balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.
Keywords
angular momentum; control system analysis; feedback; force sensors; position control; robots; torque control; 26 DOF model; balance control method; center of gravity control; contact torque controller; direct angular momentum feedback; humanoid robot; Feedback; Feeds; Foot; Force sensors; Humanoid robots; Leg; Legged locomotion; Robot sensing systems; Springs; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933139
Filename
933139
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