Passivity-based posture control of a humanoid robot using a power-conserved transformation. (17th December 2021)

• Record Type: Journal Article
• Authors: Ozawa, Ryuta; Kakei, Yuki; Ishizaki, Junya
• Is Part Of: Advanced robotics. Volume 35:Number 24(2021)
• Page Start: 1485
• Page End: 1499
• Publication Date: 2021-12-17
• Subjects: Humanoid robots -- bipedal robots -- balance control -- passivity-based control -- torque control; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2021.1985605
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract : This paper proposes a passivity-based regulator for the balance of a humanoid robot. This regulator can dynamically stabilize internal motions as well as the configuration of a floating base. Using a unique transformation that conserves the power, we can rigorously prove the stability of an equilibrium point of the closed-loop system. Moreover, the regulator can be implemented easily since the transformation simplifies an optimization problem to determine the realizable control input and a post-process such as the inverse kinematics. Experiments validate the robustness of the proposed controller to disturbances, including a large angular momentum and large disturbances in the environments. GRAPHICAL ABSTRACT: UF0001