DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Yeoun Jae | ko |
dc.contributor.author | Lee, Joon-Yong | ko |
dc.contributor.author | Lee, Ju-Jang | ko |
dc.date.accessioned | 2015-04-29T01:08:07Z | - |
dc.date.available | 2015-04-29T01:08:07Z | - |
dc.date.created | 2015-04-21 | - |
dc.date.created | 2015-04-21 | - |
dc.date.issued | 2015-03 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.12, no.1 | - |
dc.identifier.issn | 0219-8436 | - |
dc.identifier.uri | http://hdl.handle.net/10203/198233 | - |
dc.description.abstract | Moving the torso laterally in a walking biped robot can be mechanically more torque-efficient than not moving the torso according to recent research. Motivated by this observation, a torque-efficient torso-moving balance control strategy of a walking biped robot subject to a persistent continuous external force is suggested and verified in this paper. The torso-moving balance control strategy consists of a preliminary step and two additional steps. The preliminary step (disturbance detection) is to perceive the application of an external force by a safety boundary of zero moment point, detected approximately from cheap pressure sensors. Step 1 utilizes center of gravity (COG) Jacobian, centroidal momentum matrix and linear quadratic problem calculation to shift the zero moment point to the center of the support polygon. Step 2 makes use of H-infinity controllers for a more stable state shift from single support phase to double support phase. By comparing the suggested torso moving control strategy to the original control strategy that we suggested previously, a mixed balance control strategy is suggested. The strategy is verified through numerical simulation results. | - |
dc.language | English | - |
dc.publisher | WORLD SCIENTIFIC PUBL CO PTE LTD | - |
dc.subject | PUSH RECOVERY | - |
dc.subject | LOCOMOTION | - |
dc.title | A Torso-Moving Balance Control Strategy for a Walking Biped Robot Subject to External Continuous Forces | - |
dc.type | Article | - |
dc.identifier.wosid | 000351225400003 | - |
dc.identifier.scopusid | 2-s2.0-84928485514 | - |
dc.type.rims | ART | - |
dc.citation.volume | 12 | - |
dc.citation.issue | 1 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS | - |
dc.identifier.doi | 10.1142/S0219843615500036 | - |
dc.contributor.localauthor | Lee, Ju-Jang | - |
dc.contributor.nonIdAuthor | Lee, Joon-Yong | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Biped robot | - |
dc.subject.keywordAuthor | walking | - |
dc.subject.keywordAuthor | balance control | - |
dc.subject.keywordAuthor | external force | - |
dc.subject.keywordAuthor | torque efficient | - |
dc.subject.keywordAuthor | torso | - |
dc.subject.keywordPlus | PUSH RECOVERY | - |
dc.subject.keywordPlus | LOCOMOTION | - |
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