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Balancing and Posture Controls for Biped Robots with Unmodelled Dynamics

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Intelligent Robotics and Applications (ICIRA 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7506))

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Abstract

This paper presents a structure of robust adaptive control for biped robots which includes balancing and posture control for regulating the center of mass position and trunk orientation of bipedal robots in a compliant way. First, the biped robot is decoupled into the dynamics of center of mass (COM) and the trunks. Then, the adaptive robust controls are constructed in the presence of parametric and functional dynamics uncertainties. The control computes a desired ground reaction force required to stabilize the posture with unknown dynamics of COM and then transforms these forces into full-body joint torques even if the external disturbances exist. The verification of the proposed control is conducted using the extensive simulations.

This work is supported by the Natural Science Foundation of China under Grants 60804003, 61174045, 61111130208, the International Science and Technology Cooperation Program of China under 0102011DFA10950, and the Fundamental Research Funds for the Central Universities (No. 2011ZZ0104), National Basic Research Program of China (973 Program) under Grant No. 2011CB707005, National High Technology Research and Development Program of China(863,  2011AA040701).

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Author information

Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, 200240, China

    Zhijun Li

  2. Robotics Institute, and School of Computer Science and Engineering, University of Electronic Science and Technology of China, Chengdu, China, 610054

    Shuzhi Sam Ge

  3. Department of Electrical and Computer Engineering, The National University of Singapore, Singapore, 117576

    Shuzhi Sam Ge

Authors
  1. Zhijun Li
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  2. Shuzhi Sam Ge
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Concordia University, H3G 1M8, Montreal, Canada

    Chun-Yi Su

  2. Mechanical and Industrial Engineering, Concordia University, 1515 St. Catherine St. West, Montreal, Quebec, Canada

    Subhash Rakheja

  3. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

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© 2012 Springer-Verlag Berlin Heidelberg

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Li, Z., Ge, S.S. (2012). Balancing and Posture Controls for Biped Robots with Unmodelled Dynamics. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_6

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  • DOI: https://doi.org/10.1007/978-3-642-33509-9_6

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33508-2

  • Online ISBN: 978-3-642-33509-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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