Motion and Walking Stabilization of Humanoids Using Sensory Reflex Control. (28th April 2016)

• Record Type: Journal Article
• Authors: Kim, Jong-Wook; Tran, Tin Trung; Van Dang, Chien; Kang, Bongsoon
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 2(2016)
• Publication Date: 2016-04-28
• Subjects: Motion Stabilization -- Inertial Measurement Unit -- Force Sensing Resistor -- Sensory Reflex Control -- Biped Walking; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/63116
• Languages: English
• ISSNs: 1729-8806

Abstract

Humanoid robots are versatile robot platforms that can carry out intelligent tasks and services for humans, including intimate interactions. For high mobility, a robust stabilization of motion including biped walking is crucial. This paper employs and elaborates on sensory reflex control to stabilize standing motion and biped walking using basic sensors such as an inertial measurement unit (IMU) and a force-sensing resistor (FSR). Specifically, normalized zero-moment points processed from FSR data are used in the reflexive control of a simple motion of swinging the whole body while standing, and the measured inclination angle of the trunk, filtered from IMU data, is used for biped walking on a sloped floor. The proposed control scheme is validated through experiments with the commercial humanoid robot, ROBOTIS-OP.