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Autonomous Robots

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01-07-2013

Observer based biped walking control, a sensor fusion approach

Authors: Oliver Urbann, Stefan Tasse

Published in: Autonomous Robots | Issue 1/2013

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Abstract

In humanoid walking research, the prevailing approach is to utilize an abstraction of the robot to a single center of mass (3D linear inverted pendulum mode). Smaller disturbances or an oscillation of the body are typical for a walking robot and must be addressed by an appropriate sensor feedback. To this end, this paper proposes a novel observer fusing joint angle sensors and force sensing resistors. This new method of sensor feedback in a preview control system balances the walk by damping those disturbances and oscillations of the body. Moreover, novel stabilizing methods for defining reference trajectories for the zero moment point and limbs are examined.

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Available only for authorised users

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Note that the procedure in Sect. 3.1 is especially for preview controller

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A video of the experiments depicting the disturbance, oscillation (as explained in Sect. 2) and the stabilizing effect of the observer can be seen here: http://www.youtube.com/watch?v=ZuebspajdZU It also shows the maximum speed that is reachable

In this experiment the axes of the robot coordinate system and the world coordinate system are parallel

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Title: Observer based biped walking control, a sensor fusion approach
Authors: Oliver Urbann
Stefan Tasse
Publication date: 01-07-2013
Publisher: Springer US
Published in: Autonomous Robots / Issue 1/2013
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI: https://doi.org/10.1007/s10514-013-9333-4

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