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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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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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container_end_page	3382 vol.4
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container_start_page	3376
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creator	Kajita, S. Yokoi, K. Saigo, M. Tanie, K.
description	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.
doi_str_mv	10.1109/ROBOT.2001.933139
format	conference_proceeding
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A simulation result of a balance control using a 26 DOF humanoid robot model is shown.</description><subject>Feedback</subject><subject>Feeds</subject><subject>Foot</subject><subject>Force sensors</subject><subject>Humanoid robots</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Robot sensing systems</subject><subject>Springs</subject><subject>Torque control</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>0780365763</isbn><isbn>9780780365766</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2001</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotUF1LwzAUDX6A2_QH6FOefOu8SdqkeXTDLxgMZIJvJU1utmrbzLQV_Pd2TjhwD4fD4ZxLyDWDOWOg717Xi_VmzgHYXAvBhD4hE54plUCu3k_JFFQOQmZKijMyYZBBkiquL8i06z4AQAgpJ2S3MLVpbdVuqaG7oTFtqByNoQw9HbqDXBr76WL1jdSG1mJs0dE-xK_hT-hjqKlpHXVVRNuPdDvUJtImNNj2Q0M9ojtEXJJzb-oOr_7vjLw9PmyWz8lq_fSyvF8lFZe6T3Seo_UisynnHrQtvcsUk6XXmUMJ4CxCyjhDpnIGZqTeWWfT3IvSoeFiRm6PufsYxo5dXzRVZ7EeV2IYuoJLOSLXo_HmaKwQsdjHqjHxpzh-UvwCfJJoSw</recordid><startdate>2001</startdate><enddate>2001</enddate><creator>Kajita, S.</creator><creator>Yokoi, K.</creator><creator>Saigo, M.</creator><creator>Tanie, K.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>7SC</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>2001</creationdate><title>Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback</title><author>Kajita, S. ; Yokoi, K. ; Saigo, M. ; Tanie, K.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i269t-988ecf35c422f09cbfd5716bf95de600dce04121e17810a412fdcdc48f3bdea23</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2001</creationdate><topic>Feedback</topic><topic>Feeds</topic><topic>Foot</topic><topic>Force sensors</topic><topic>Humanoid robots</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Robot sensing systems</topic><topic>Springs</topic><topic>Torque control</topic><toplevel>online_resources</toplevel><creatorcontrib>Kajita, S.</creatorcontrib><creatorcontrib>Yokoi, K.</creatorcontrib><creatorcontrib>Saigo, M.</creatorcontrib><creatorcontrib>Tanie, K.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Computer and Information Systems Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kajita, S.</au><au>Yokoi, K.</au><au>Saigo, M.</au><au>Tanie, K.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback</atitle><btitle>Proceedings - IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2001</date><risdate>2001</risdate><volume>4</volume><spage>3376</spage><epage>3382 vol.4</epage><pages>3376-3382 vol.4</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>0780365763</isbn><isbn>9780780365766</isbn><abstract>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.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2001.933139</doi><tpages>7</tpages></addata></record>
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ispartof	Proceedings - IEEE International Conference on Robotics and Automation, 2001, Vol.4, p.3376-3382 vol.4
issn	1050-4729 2577-087X
language	eng
recordid	cdi_proquest_miscellaneous_26626689
source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Feedback Feeds Foot Force sensors Humanoid robots Leg Legged locomotion Robot sensing systems Springs Torque control
title	Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback
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