Balancing Strategy using the Principle of Energy conservation for a Hopping humanoid robot
Balancing Strategy using the Principle of Energy conservation for a Hopping humanoid robot
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DOI：
10.1142/s0219843613500205
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发表时间：
2013-10
期刊：
影响因子：
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通讯作者：
Baek-Kyu Cho;Jung-Hoon Kim;Jun-Ho Oh
中科院分区：
文献类型：
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作者：
Baek-Kyu Cho;Jung-Hoon Kim;Jun-Ho Oh
尽管已经开发出许多人形机器人并且它们具有运动能力，但它们的平衡能力还不够。未来，类人机器人将在人类环境中工作和行动。届时，人形机器人将受到各种干扰。提出了一种仿人跳跃机器人在各种扰动下的平衡策略。仿人跳跃机器人的平衡策略由两个控制器组成，姿态平衡控制器和着陆位置控制器。姿态平衡控制器用于小扰动，其作用是通过控制机器人的踝关节力矩来保持稳定。另一方面，如果干扰大，则改变摆动脚的着地位置的着地位置控制器与姿势平衡控制器同时工作。以这种方式，着陆位置控制器减少了大的干扰，并且姿态平衡控制器控制剩余的干扰。根据能量守恒原理推导了着陆位置控制器。通过对一个真实的仿人机器人HUBO 2的实验，验证了该方法的有效性。HUBO2提出了一个稳定和连续的跳跃行动与建议的平衡策略，克服各种干扰放置在机器人的方式。
Even though many humanoid robots have been developed and they have locomotion ability, their balancing ability is not sufficient. In the future, humanoid robots will work and act within the human environment. At that time, the humanoid robot will be exposed to various disturbances. This paper proposes a balancing strategy for hopping humanoid robots against various magnitude of disturbance. The proposed balancing strategy for a hopping humanoid robot consists of two controllers, the posture balance controller and the landing position controller. The posture balance controller is used for small disturbances, and its role is to maintain stability by controlling the ankle torque of the robot. On the other hand, if disturbance is large, the landing position controller, which changes the landing position of the swing foot, works with the posture balance controller simultaneously. In this way, the landing position controller reduces large disturbances, and the posture balance controller controls the remaining disturbances. The landing position controller is derived by the principle of energy conservation. An experiment conducted with a real humanoid robot, HUBO2, verifies the proposed method. HUBO2 made a stable and continuous hopping action with the proposed balancing strategy overcoming various disturbances placed in the way of the robot.