Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback

A balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF h...

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Bibliographic Details
Main Authors: Kajita, S., Yokoi, K., Saigo, M., Tanie, K.
Format: Conference Proceeding
Language:English
Subjects:
Feedback
Feeds
Foot
Force sensors
Humanoid robots
Leg
Legged locomotion
Robot sensing systems
Springs
Torque control
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Description
Summary:A balance control method for a humanoid robot is presented. It consists of a contact torque controller which is designed to have a good backdrivability and a feedback control of the total angular momentum and the center of gravity of a robot. A simulation result of a balance control using a 26 DOF humanoid robot model is shown.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2001.933139