ESP32-C3を用いたヒューマノイドロボットのバランス制御のための無線圧力中心フィードバックシステム
Wireless Center of Pressure Feedback System for Humanoid Robot Balance Control using ESP32-C3
4つのロードセルとESP32-C3を搭載した足部で圧力中心をリアルタイム推定し、無線でメイン制御器に送ってPID制御によりヒューマノイドの片足立ちバランスを安定化させた研究。
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著者: Muhtadin, Faris Rafi Pramana, Dion Hayu Fandiantoro, Moh Ismarintan Zazuli, Atar Fuady Babgei
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditional tethered sensor configurations often restrict joint movement and introduce mechanical noises. This study proposes a wireless embedded balance system designed to maintain stability on uneven surfaces. The system utilizes a custom-designed foot unit integrated with four load cells and an ESP32-C3 microcontroller to estimate the Center of Pressure (CoP) in real time. The CoP data were transmitted wirelessly to the main controller to minimize the wiring complexity of the 29-DoF VI-ROSE humanoid robot. A PID control strategy is implemented to adjust the torso, hip, and ankle roll joints based on CoP feedback. Experimental characterization demonstrated high sensor precision with an average measurement error of 14.8 g. Furthermore, the proposed control system achieved a 100% success rate in maintaining balance during single-leg lifting tasks at a 3-degree inclination with optimized PID parameters (Kp=0.10, Kd=0.005). These results validate the efficacy of wireless CoP feedback in enhancing the postural stability of humanoid robots, without compromising their mechanical flexibility.
