A Torso-Moving Balance Control Strategy for a Walking Biped Robot Subject to External Continuous Forces

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dc.contributor.authorKim, Yeoun Jaeko
dc.contributor.authorLee, Joon-Yongko
dc.contributor.authorLee, Ju-Jangko
dc.date.accessioned2015-04-29T01:08:07Z-
dc.date.available2015-04-29T01:08:07Z-
dc.date.created2015-04-21-
dc.date.created2015-04-21-
dc.date.issued2015-03-
dc.identifier.citationINTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, v.12, no.1-
dc.identifier.issn0219-8436-
dc.identifier.urihttp://hdl.handle.net/10203/198233-
dc.description.abstractMoving 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.languageEnglish-
dc.publisherWORLD SCIENTIFIC PUBL CO PTE LTD-
dc.subjectPUSH RECOVERY-
dc.subjectLOCOMOTION-
dc.titleA Torso-Moving Balance Control Strategy for a Walking Biped Robot Subject to External Continuous Forces-
dc.typeArticle-
dc.identifier.wosid000351225400003-
dc.identifier.scopusid2-s2.0-84928485514-
dc.type.rimsART-
dc.citation.volume12-
dc.citation.issue1-
dc.citation.publicationnameINTERNATIONAL JOURNAL OF HUMANOID ROBOTICS-
dc.identifier.doi10.1142/S0219843615500036-
dc.contributor.localauthorLee, Ju-Jang-
dc.contributor.nonIdAuthorLee, Joon-Yong-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorBiped robot-
dc.subject.keywordAuthorwalking-
dc.subject.keywordAuthorbalance control-
dc.subject.keywordAuthorexternal force-
dc.subject.keywordAuthortorque efficient-
dc.subject.keywordAuthortorso-
dc.subject.keywordPlusPUSH RECOVERY-
dc.subject.keywordPlusLOCOMOTION-
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