Posture Control of a Humanoid Robot with a Compliant Ankle Joint
Posture Control of a Humanoid Robot with a Compliant Ankle Joint
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DOI：
10.1142/s0219843610001988
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发表时间：
2010-03
期刊：
影响因子：
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通讯作者：
Min-Su Kim;Jun-Ho Oh
中科院分区：
文献类型：
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作者：
Min-Su Kim;Jun-Ho Oh
本文提出了一种利用惯性测量单元（IMU）在单支撑阶段调节仿人步行机器人踝关节刚度和控制算法以保持其姿态的方法。机器人在单支撑阶段保持平衡的难点之一涉及机器人的脚底，该脚底容易与地面分离。这种现象是由外部干扰或鞋底落在不平坦的地形上引起的。介绍了一种调整踝关节顺应性的方法，以减少这种情况的发生。为了保持具有柔顺踝关节的机器人的姿态，采用了由身体平衡控制器和减振控制器组成的姿态控制器。使用柔顺踝关节和姿态控制器实现了步行实验。所提出的方法，使快速行走，以及在不平坦的地形上行走。
This paper contains an adjustment of the stiffness and control algorithm of an ankle joint to maintain the posture of a humanoid biped walking robot using an IMU (Inertial measurement Unit) in single support phase. One of the difficulties in maintaining the balance of a robot in single support phase involves the sole of the robot, which is easy to separate from the ground. This phenomenon is caused by an external disturbance or when the sole lands on uneven terrain. A method of adjusting the compliance in the ankle joint is introduced to reduce the tendency of this type of occurrence. In order to maintain the posture of a robot with a compliant ankle joint, a posture controller composed of a body balancing controller and a vibration reduction controller is adopted. A walking experiment is implemented using a compliant ankle joint and the posture controller. The proposed method is shown to enable rapid walking as well as walking on uneven terrain.