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On the balancing control of humanoid robot
- Authors
- Choi, Youngjin; Kim, Doik
- Issue Date
- May-2007
- Publisher
- INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION
- Keywords
- WBC (whole body coordination); humanoid robot; posture control; CoM (center of mass) Jacobian
- Citation
- ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1, v.1, pp 248 - 252
- Pages
- 5
- Indexed
- SCIE
SCOPUS
- Journal Title
- ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-1: ROBOTICS AND AUTOMATION, VOL 1
- Volume
- 1
- Start Page
- 248
- End Page
- 252
- Abstract
- This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoid robot. Also, we prove that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model.
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Related Researcher
- Choi, Youngjin
- ERICA 공학대학 (DEPARTMENT OF ROBOT ENGINEERING)