Abstract

Comparing with wheeled or tracked moving machines, legged robots have potential advantages, especially when considering moving on discontinuous or rough terrain. For many bipedal robots, balance in the standing position is easy to maintain by having sufficient contact area with the ground. For some bipedal robots, the Zero Moment Point (ZMP) control method has been successfully implemented in which the center of mass is aligned above the support area. However, the balancing issue while standing becomes challenging when the contact area is very small. This paper presents a controller which is developed to balance a bipedal robot with coupled legs which has point foot contact. It is necessary to investigate the non-linear characteristics of the system. A pole-placement control method is used, and noise issues with sensing higher motion derivatives are investigated The simulation-based evaluation indicates limitations that need to be addressed before experimental implementation.
Original languageEnglish
Pages (from-to)403-408
JournalIFAC-PapersOnLine
Volume49
Issue number21
DOIs
Publication statusPublished - 5 Sep 2016
Event7th IFAC Symposium on Mechatronic Systems MECHATRONICS, 2016 - Loughborough University, Loughborough, UK United Kingdom
Duration: 5 Sep 20168 Sep 2016

Fingerprint

Robots
Poles
Derivatives
Controllers

Cite this

Investigating balancing control of a standing bipedal robot with point foot contact. / Ding, Beichen; Plummer, Andrew; Iravani, Pejman.

In: IFAC-PapersOnLine, Vol. 49, No. 21, 05.09.2016, p. 403-408.

Research output: Contribution to journalArticle

@article{c634eac277e249f690c807369245a52a,
title = "Investigating balancing control of a standing bipedal robot with point foot contact",
abstract = "Comparing with wheeled or tracked moving machines, legged robots have potential advantages, especially when considering moving on discontinuous or rough terrain. For many bipedal robots, balance in the standing position is easy to maintain by having sufficient contact area with the ground. For some bipedal robots, the Zero Moment Point (ZMP) control method has been successfully implemented in which the center of mass is aligned above the support area. However, the balancing issue while standing becomes challenging when the contact area is very small. This paper presents a controller which is developed to balance a bipedal robot with coupled legs which has point foot contact. It is necessary to investigate the non-linear characteristics of the system. A pole-placement control method is used, and noise issues with sensing higher motion derivatives are investigated The simulation-based evaluation indicates limitations that need to be addressed before experimental implementation.",
author = "Beichen Ding and Andrew Plummer and Pejman Iravani",
note = "Presented as a paper at 7th IFAC Symposium on Mechatronic Systems, 2016",
year = "2016",
month = "9",
day = "5",
doi = "10.1016/j.ifacol.2016.10.587",
language = "English",
volume = "49",
pages = "403--408",
journal = "IFAC-PapersOnLine",
issn = "1474-6670",
publisher = "Elsevier",
number = "21",

}

TY - JOUR

T1 - Investigating balancing control of a standing bipedal robot with point foot contact

AU - Ding, Beichen

AU - Plummer, Andrew

AU - Iravani, Pejman

N1 - Presented as a paper at 7th IFAC Symposium on Mechatronic Systems, 2016

PY - 2016/9/5

Y1 - 2016/9/5

N2 - Comparing with wheeled or tracked moving machines, legged robots have potential advantages, especially when considering moving on discontinuous or rough terrain. For many bipedal robots, balance in the standing position is easy to maintain by having sufficient contact area with the ground. For some bipedal robots, the Zero Moment Point (ZMP) control method has been successfully implemented in which the center of mass is aligned above the support area. However, the balancing issue while standing becomes challenging when the contact area is very small. This paper presents a controller which is developed to balance a bipedal robot with coupled legs which has point foot contact. It is necessary to investigate the non-linear characteristics of the system. A pole-placement control method is used, and noise issues with sensing higher motion derivatives are investigated The simulation-based evaluation indicates limitations that need to be addressed before experimental implementation.

AB - Comparing with wheeled or tracked moving machines, legged robots have potential advantages, especially when considering moving on discontinuous or rough terrain. For many bipedal robots, balance in the standing position is easy to maintain by having sufficient contact area with the ground. For some bipedal robots, the Zero Moment Point (ZMP) control method has been successfully implemented in which the center of mass is aligned above the support area. However, the balancing issue while standing becomes challenging when the contact area is very small. This paper presents a controller which is developed to balance a bipedal robot with coupled legs which has point foot contact. It is necessary to investigate the non-linear characteristics of the system. A pole-placement control method is used, and noise issues with sensing higher motion derivatives are investigated The simulation-based evaluation indicates limitations that need to be addressed before experimental implementation.

U2 - 10.1016/j.ifacol.2016.10.587

DO - 10.1016/j.ifacol.2016.10.587

M3 - Article

VL - 49

SP - 403

EP - 408

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 1474-6670

IS - 21

ER -