Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 7, Issue 1, Pages 75-84Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-009-0110-2
Keywords
Balance control; biped robot; reference object image; zero moment point
Categories
Funding
- Korean Government (MOEHRD)
- MKE
- IITA [IITA-2008-C1090-0803-0006]
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This paper presents a new balance control scheme for a biped robot. Instead of using dynamic sensors to measure the pose of a biped robot, this paper uses only the visual information of a specific reference object in the workspace. The zero moment point (ZMP) of the biped robot can be calculated from the robot's pose, which is measured from the reference object image acquired by a CCD camera on the robot's head. For balance control of the biped robot a servo controller uses an error between the reference ZMP and the current ZMP, estimated by Kalman filter. The efficiency of the proposed algorithm has been proven by the experiments performed on both flat and uneven floors with unknown thin obstacles.
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