アクティブバランス制御によるヒューマノイドロボットの片脚立位
One-Leg Stance of Humanoid Robot using Active Balance Control
外部バランス機構とバックステッピング・適応制御を組み合わせ、歩行制御と独立して側方バランスを保つヒューマノイドの片脚立位手法を提案し、UXA-90で実証した。
著者: Tri Duc Tran, Anh Khoa Lanh Luu, Van Tu Duong, Huy Hung Nguyen, Tan Tien Nguyen
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The task of self-balancing is one of the most important tasks when developing humanoid robots. This paper proposes a novel external balance mechanism for humanoid robot to maintain sideway balance. First, a dynamic model of the humanoid robot with balance mechanism and its simplified model are introduced. Secondly, a backstepping-based control method is utilized to split the system into two sub-systems. Then, a minimum observer-based controller is used to control the first sub-system. Since the second sub-system has unknown parameters, a model reference adaptive controller (MRAC) is used to control it. The proposed design divides the walking and balancing into two separated tasks, allowing the walking control can be executed independently of the balancing control. Furthermore, the use of the balance mechanism ensures the humanoid robot's hip movement does not exceed the threshold of a human when walking. Thus, making the overall pose of the humanoid robot looks more natural. An experiment is carried out on a commercial humanoid robot known as UXA-90 to evaluate the effectiveness of the proposed method.
