Push recovery for the standing under-actuated bipedal robot using the hip strategy

作     者：Chao LI Rong XIONG Qiu-guo ZHU Jun WU, Ya-liang WANG Yi-ming HUANG 

作者机构：State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China 

基　　金：Project supported by the National Natural Science Foundation of China (Nos. 51405430 and 61473258) and the National High-Tech R&D Program (863) of China (No. 2012AA041703) 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2015年第16卷第7期

页      码：579-593页

摘      要：This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip. However, errors in the angle or angular velocity of body posture may appear, due to the dynamic coupling of the transla- tional and rotational motions. To solve this problem, different hip strategies are discussed for two cases when （1） external dis- turbance is applied on the center of mass （CoM） and （2） external torque is acting around the CoM, and a universal hip strategy is derived for most disturbances. Moreover, three torque primitives for the hip, depending on the type of disturbance, are designed to achieve translational and rotational balance recovery simultaneously. Compared with closed-loop control, the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance. Finally, simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods.

主 题 词：Push recovery Balance control Bipedal robot Hip strategy 

学科分类：0810[工学-土木类] 0808[工学-自动化类] 0809[工学-计算机类] 0839[0839] 080202[080202] 08[工学] 0804[工学-材料学] 0835[0835] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1631/FITEE.14a0230

馆 藏 号：203736055...