Integral control of humanoid balance
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4020 - 4027, October, 2007
Abstract
This paper presents a balance controller that allows a humanoid to recover from large disturbances and still maintain an upright posture. Balance is achieved by integral control, which decouples the dynamics and produces smooth torque signals. Simulation shows the controller performs better than other simple balance controllers. Because the controller is inspired by human balance strategies, we compare human motion capture and force plate data to simulation. A model tracking controller is also presented, making it possible to control complex robots using this simple control.
BibTeX
@conference{Stephens-2007-9855,author = {Benjamin Stephens},
title = {Integral control of humanoid balance},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2007},
month = {October},
pages = {4020 - 4027},
address = {San Diego, CA},
}
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