Stability control and pattern generation for biped humanoid robot

Author

Kamogawa, Yuki ; Yamada, Koji ; Masuta, Hiroyuki ; Hun-Ok Lim

Author_Institution

Grad. Sch. of Eng., Kanagawa Univ., Yokohama, Japan

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

910

Lastpage

915

Abstract

This paper describes stability control for a biped humanoid robot. The stability control consists of ZMP compensation control and inverted pendulum control for the robot to walk stably on the ground. The ZMP compensation control compensates the displacement of the waist according to ZMP, and the inverted pendulum control accelerates ZMP to the falling direction of the robot. Also, a whole motion pattern generation based on the preview control is developed. It enables the robot to walk with arm swings. According to the walking parameters, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation and the control method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.

Keywords

compensation; gait analysis; humanoid robots; legged locomotion; nonlinear control systems; path planning; pendulums; predictive control; robot kinematics; stability; Adams; Matlab; Simulink; ZMP compensation control; angles of body calculation; arm swings; biped humanoid robot; inverse kinematics; inverted pendulum control; motion pattern generation; preview control; stability control; waist displacement compensation; walking parameter; whole body motion simulation; Force; Legged locomotion; MATLAB; Biped Walking; Compensatory Motion; Trunk Position Compliance Control; ZMP;

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.2013.6704044

Filename

6704044