Robust Model Predictive Control for Humanoids Standing Balancing

Juan A Castano; Chengxu Zhou; Zhibin Li; Nikos G. Tsagarakis

doi:10.1109/ICARM.2016.7606910

Robust Model Predictive Control for Humanoids Standing Balancing

Juan A Castano, Chengxu Zhou, Zhibin Li, Nikos G. Tsagarakis

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

Abstract / Description of output

This paper presents the implementations of Model Predictive Control for the standing balance control of a humanoid to reject external disturbances. The strategies allow the robot to have a compliant behaviour against external forces resulting in a stable and smooth response. The first, ZMP based controller, compensates for the center of mass deviation while the second, attitude controller, regulates the orientation of the body to counterbalance the external disturbances. These two control strategies are combined as an integrated stabilizer, which further increases the effectiveness. Simulation studies on the COMAN humanoid are presented and the data are analysed. The simulations show significant improvements in rejection of external disturbances compared to an existing compliant stabilizer.

Original language	English
Title of host publication	2016 IEEE International Conference on Advanced Robotics and Mechatronics (ARM)
Place of Publication	Macau, China
Publisher	Institute of Electrical and Electronics Engineers
Pages	147-152
Number of pages	7
ISBN (Electronic)	978-1-5090-3364-5
ISBN (Print)	978-1-5090-3365-2
DOIs	https://doi.org/10.1109/ICARM.2016.7606910
Publication status	Published - 27 Oct 2016
Event	2016 International Conference on Advanced Robotics and Mechatronics - Macau, China Duration: 18 Aug 2016 → 20 Aug 2016 http://www.ieee-arm.org/

Conference

Conference	2016 International Conference on Advanced Robotics and Mechatronics
Abbreviated title	ICARM 2016
Country/Territory	China
City	Macau
Period	18/08/16 → 20/08/16
Internet address	http://www.ieee-arm.org/

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10.1109/ICARM.2016.7606910

COMbalance-1Accepted author manuscript, 1.18 MB

http://ieeexplore.ieee.org/document/7606910/

Cite this

@inproceedings{10c1cddc564343009a43d7a3bb8e02f7,

title = "Robust Model Predictive Control for Humanoids Standing Balancing",

abstract = "This paper presents the implementations of Model Predictive Control for the standing balance control of a humanoid to reject external disturbances. The strategies allow the robot to have a compliant behaviour against external forces resulting in a stable and smooth response. The first, ZMP based controller, compensates for the center of mass deviation while the second, attitude controller, regulates the orientation of the body to counterbalance the external disturbances. These two control strategies are combined as an integrated stabilizer, which further increases the effectiveness. Simulation studies on the COMAN humanoid are presented and the data are analysed. The simulations show significant improvements in rejection of external disturbances compared to an existing compliant stabilizer.",

author = "Castano, {Juan A} and Chengxu Zhou and Zhibin Li and Tsagarakis, {Nikos G.}",

year = "2016",

month = oct,

day = "27",

doi = "10.1109/ICARM.2016.7606910",

language = "English",

isbn = "978-1-5090-3365-2",

pages = "147--152",

booktitle = "2016 IEEE International Conference on Advanced Robotics and Mechatronics (ARM)",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2016 International Conference on Advanced Robotics and Mechatronics, ICARM 2016 ; Conference date: 18-08-2016 Through 20-08-2016",

url = "http://www.ieee-arm.org/",

}

Castano, JA, Zhou, C, Li, Z & Tsagarakis, NG 2016, Robust Model Predictive Control for Humanoids Standing Balancing. in 2016 IEEE International Conference on Advanced Robotics and Mechatronics (ARM). Institute of Electrical and Electronics Engineers, Macau, China, pp. 147-152, 2016 International Conference on Advanced Robotics and Mechatronics, Macau, China, 18/08/16. https://doi.org/10.1109/ICARM.2016.7606910

TY - GEN

T1 - Robust Model Predictive Control for Humanoids Standing Balancing

AU - Castano, Juan A

AU - Zhou, Chengxu

AU - Li, Zhibin

AU - Tsagarakis, Nikos G.

PY - 2016/10/27

Y1 - 2016/10/27

N2 - This paper presents the implementations of Model Predictive Control for the standing balance control of a humanoid to reject external disturbances. The strategies allow the robot to have a compliant behaviour against external forces resulting in a stable and smooth response. The first, ZMP based controller, compensates for the center of mass deviation while the second, attitude controller, regulates the orientation of the body to counterbalance the external disturbances. These two control strategies are combined as an integrated stabilizer, which further increases the effectiveness. Simulation studies on the COMAN humanoid are presented and the data are analysed. The simulations show significant improvements in rejection of external disturbances compared to an existing compliant stabilizer.

AB - This paper presents the implementations of Model Predictive Control for the standing balance control of a humanoid to reject external disturbances. The strategies allow the robot to have a compliant behaviour against external forces resulting in a stable and smooth response. The first, ZMP based controller, compensates for the center of mass deviation while the second, attitude controller, regulates the orientation of the body to counterbalance the external disturbances. These two control strategies are combined as an integrated stabilizer, which further increases the effectiveness. Simulation studies on the COMAN humanoid are presented and the data are analysed. The simulations show significant improvements in rejection of external disturbances compared to an existing compliant stabilizer.

U2 - 10.1109/ICARM.2016.7606910

DO - 10.1109/ICARM.2016.7606910

M3 - Conference contribution

SN - 978-1-5090-3365-2

SP - 147

EP - 152

BT - 2016 IEEE International Conference on Advanced Robotics and Mechatronics (ARM)

PB - Institute of Electrical and Electronics Engineers

CY - Macau, China

T2 - 2016 International Conference on Advanced Robotics and Mechatronics

Y2 - 18 August 2016 through 20 August 2016

ER -

Robust Model Predictive Control for Humanoids Standing Balancing

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