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Published in:
2015 | OriginalPaper | Chapter
In-Motion Balance Recovery of a Humanoid Robot under Severe External Disturbances
Author : Mikołaj Wasielica
Published in: Progress in Automation, Robotics and Measuring Techniques
Publisher: Springer International Publishing
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This paper presents a balance controller for a humanoid robot to maintain balance on tilting platform while mimicking captured human motion trajectory in real time. The controller uses only two available feedback information: about the robot’s orientation from its Inertial Measurement Unit (IMU) and about inclination of the platform from attached to it smartphone’s IMU. Platform tilts in two planes at the same time. The controller is based on the static stability of an inverted pendulum, but by using IMU data it is able to respond to more dynamic movements. Experimental results show that the proposed controller can enable a humanoid robot to stably track human movements on tilting platform under severe external disturbance like: uncertain configuration of the robot, its construction elasticity, servomotors backlash, and unpredictable simultaneous movements of the robot and the platform. A video of the experimental validation can be found at
http://lrm.cie.put.poznan.pl/auto2015hum.mp4
.