Optimal ankle compliance regulation for humanoid balancing control

M. Mosadeghzad, Z. Li, N. G. Tsagarakis, G. A. Medrano-Cerda, H. Dallali, D. G. Caldwell

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

Keeping balance is the main concern for humanoids in standing and walking tasks. This paper endeavors to acquire optimal ankle stabilization methods for humanoids with passive and active compliance and explain ankle balancing strategy from the compliance regulation perspective. Unlike classical stiff humanoids, the compliant ones can control both impedance and position during task operation. Optimal compliance regulation is resolved to maximize the stability of the humanoids. The linearized model is proposed to obtain the optimal ankle impedance for stabilizing against impacts. The nonlinear model is proposed as well and compared with the linear one. The proposed methods are validated by experiments on an intrinsically compliant humanoid using passivity based admittance and impedance controllers both in joint and Cartesian space.
Original languageEnglish
Title of host publication2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)978-1-4673-6358-7
Publication statusPublished - 1 Nov 2013

Keywords / Materials (for Non-textual outputs)

  • compliance control
  • humanoid robots
  • legged locomotion
  • mechanical stability
  • optimal control
  • position control
  • Cartesian space
  • active compliance
  • ankle balancing strategy
  • compliant humanoid
  • humanoid balancing control
  • impedance control
  • joint space
  • nonlinear model
  • optimal ankle compliance regulation
  • optimal ankle impedance
  • optimal ankle stabilization method
  • passive compliance
  • passivity based admittance controller
  • stability maximization
  • task operation
  • Damping
  • Equations
  • Foot
  • Impedance
  • Mathematical model
  • Robots
  • Torque


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