Balance Control of a Biped Robot Using Camera Image of Reference Object
- Authors
- Park, Sangbum; Han, Youngjoon; Hahn, Hernsoo
- Issue Date
- Feb-2009
- Publisher
- INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
- Keywords
- Balance control; biped robot; reference object image; zero moment point
- Citation
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.7, no.1, pp.75 - 84
- Journal Title
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
- Volume
- 7
- Number
- 1
- Start Page
- 75
- End Page
- 84
- URI
- http://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/15882
- DOI
- 10.1007/s12555-009-0110-2
- ISSN
- 1598-6446
- Abstract
- This paper presents a new balance control scheme for a biped robot. Instead of using dynamic sensors to measure the pose of a biped robot, this paper uses only the visual information of a specific reference object in the workspace. The zero moment point (ZMP) of the biped robot can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For balance control of the biped robot a servo controller uses an error between the reference ZMP and the current ZMP, estimated by Kalman filter. The efficiency of the proposed algorithm has been proven by the experiments performed on both flat and uneven floors with unknown thin obstacles.
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Collections - College of Information Technology > ETC > 1. Journal Articles
- College of Information Technology > Department of Smart Systems Software > 1. Journal Articles
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