A study on stable motion control of humanoid robot for unmanned FA

Author

Ki-Won Sung ; Sung-Won Jung ; Moon-Yeul Park ; Yang-Keun Jeong ; Woo-Song Lee ; In-Man Park ; Sung-Hyun Han

Author_Institution

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

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

648

Lastpage

650

Abstract

We present a new technology for real-time walking of a biped robot. A biped robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion 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 experiments for a 20-DOFs humanoid robot.

Keywords

force measurement; force sensors; humanoid robots; legged locomotion; path planning; robot vision; robust control; 20-DOF humanoid robot; environmental conditions; force sensors; ground irregularities; ground reaction forces; real-time biped robot. walking; robust control algorithm; stable motion control; structural stability; unmanned FA; Charge coupled devices; Computational modeling; Kinematics; Reliability; Robot kinematics; Robot sensing systems; Biped Robot; Control Algorithm; Robust Walking; Stable Walking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6703948

Filename

6703948