A robust control for stable walking of humanoid robot

Author

Cho, Yoo-Ki ; Shim, Byoung-Kyun ; Lee, Woo-Song ; Han, Sung-Hyun

Author_Institution

Dept. of Adv. Eng., Kyungnam Univ., Changwon, South Korea

fYear

2011

fDate

26-29 Oct. 2011

Firstpage

1098

Lastpage

1099

Abstract

This paper deals with the stable walking for a humanoid robot, on uneven terrain, A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot.

Keywords

force sensors; humanoid robots; legged locomotion; robust control; 24-DOFs humanoid robot; force sensing resistor sensor; ground condition estimation; ground reaction forces; posture stabilization; robust control; structural instability; walking stability; Legged locomotion; Robot sensing systems; Force sensing resistor; fuzzy algorithm; humanoid robot; stabilization;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2011 11th International Conference on

Conference_Location

Gyeonggi-do

ISSN

2093-7121

Print_ISBN

978-1-4577-0835-0

Type

conf

Filename

6106325