Active control of under-actuated foot tilting for humanoid push recovery

Z. Li; C. Zhou; Q. Zhu; R. Xiong; N. Tsagarakis; D. Caldwell

doi:10.1109/IROS.2015.7353489

Active control of under-actuated foot tilting for humanoid push recovery

Z. Li, C. Zhou, Q. Zhu, R. Xiong, N. Tsagarakis, D. Caldwell

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose a novel control framework to demonstrate a unique foot tilting maneuver based on ankle torque control for humanoid balance recovery. The framework consists of the variable impedance regulation at the center of mass of the robot based on the ankle torque control, the virtual stoppers to prevent over tilting of the feet, and the body attitude control. The scope of our paper focuses on the sagittal scenario as the first proof of concept on the balance recovery by means of active foot tilting without losing stability. Our study demonstrates the success of the control implementation for the humanoid push recovery and the feasibility of having actively controlled foot tilting. The experimental data are presented and analyzed.

Original language	English
Title of host publication	Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	977-982
Number of pages	6
ISBN (Print)	978-1-4799-9994-1
DOIs	https://doi.org/10.1109/IROS.2015.7353489
Publication status	Published - Sep 2015

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10.1109/IROS.2015.7353489

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7353489

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title = "Active control of under-actuated foot tilting for humanoid push recovery",

abstract = "We propose a novel control framework to demonstrate a unique foot tilting maneuver based on ankle torque control for humanoid balance recovery. The framework consists of the variable impedance regulation at the center of mass of the robot based on the ankle torque control, the virtual stoppers to prevent over tilting of the feet, and the body attitude control. The scope of our paper focuses on the sagittal scenario as the first proof of concept on the balance recovery by means of active foot tilting without losing stability. Our study demonstrates the success of the control implementation for the humanoid push recovery and the feasibility of having actively controlled foot tilting. The experimental data are presented and analyzed.",

author = "Z. Li and C. Zhou and Q. Zhu and R. Xiong and N. Tsagarakis and D. Caldwell",

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T1 - Active control of under-actuated foot tilting for humanoid push recovery

AU - Li, Z.

AU - Zhou, C.

AU - Zhu, Q.

AU - Xiong, R.

AU - Tsagarakis, N.

AU - Caldwell, D.

PY - 2015/9

Y1 - 2015/9

N2 - We propose a novel control framework to demonstrate a unique foot tilting maneuver based on ankle torque control for humanoid balance recovery. The framework consists of the variable impedance regulation at the center of mass of the robot based on the ankle torque control, the virtual stoppers to prevent over tilting of the feet, and the body attitude control. The scope of our paper focuses on the sagittal scenario as the first proof of concept on the balance recovery by means of active foot tilting without losing stability. Our study demonstrates the success of the control implementation for the humanoid push recovery and the feasibility of having actively controlled foot tilting. The experimental data are presented and analyzed.

AB - We propose a novel control framework to demonstrate a unique foot tilting maneuver based on ankle torque control for humanoid balance recovery. The framework consists of the variable impedance regulation at the center of mass of the robot based on the ankle torque control, the virtual stoppers to prevent over tilting of the feet, and the body attitude control. The scope of our paper focuses on the sagittal scenario as the first proof of concept on the balance recovery by means of active foot tilting without losing stability. Our study demonstrates the success of the control implementation for the humanoid push recovery and the feasibility of having actively controlled foot tilting. The experimental data are presented and analyzed.

U2 - 10.1109/IROS.2015.7353489

DO - 10.1109/IROS.2015.7353489

M3 - Conference contribution

SN - 978-1-4799-9994-1

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BT - Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

Active control of under-actuated foot tilting for humanoid push recovery

Abstract

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