TY - GEN
T1 - Vibration suppression and balance control for biped humanoid walking
AU - Chang, Young Hwan
AU - Oh, Yonghwan
AU - Kim, Doik
AU - Hong, Seokmin
N1 - Funding Information:
This work was supported in part by MIC & IITA through IT Leading R&D support project
PY - 2008
Y1 - 2008
N2 - In this paper, we present vibration suppression and balance control algorithm for biped humanoid robots in the motion embedded CoM Jacobian. The vibration control is employed during a single supporting phase, which can suppress vibration induced by structure flexibility. Because the previously proposed walking control method in the whole body coordination (WBC) framework is based on the rigid body motion, flexible mode vibration control which suppresses the residual vibration can make the humanoid motion into rigid body motion. Also, balance control algorithm which controls body attitude is applied to the WBC framework. By dynamic walking experiments using a humanoid robot MAHRU-R, we verify the validity of the proposed control methods.
AB - In this paper, we present vibration suppression and balance control algorithm for biped humanoid robots in the motion embedded CoM Jacobian. The vibration control is employed during a single supporting phase, which can suppress vibration induced by structure flexibility. Because the previously proposed walking control method in the whole body coordination (WBC) framework is based on the rigid body motion, flexible mode vibration control which suppresses the residual vibration can make the humanoid motion into rigid body motion. Also, balance control algorithm which controls body attitude is applied to the WBC framework. By dynamic walking experiments using a humanoid robot MAHRU-R, we verify the validity of the proposed control methods.
KW - Identification and control methods
KW - Intelligent robotics
KW - Robotics technology
UR - http://www.scopus.com/inward/record.url?scp=79961020295&partnerID=8YFLogxK
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U2 - 10.3182/20080706-5-KR-1001.1589
DO - 10.3182/20080706-5-KR-1001.1589
M3 - Conference contribution
AN - SCOPUS:79961020295
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -