scholarly journals The Reaction Mass Pendulum (RMP) Model for Humanoid Robot Gait and Balance Control

10.5772/6727 ◽  
2009 ◽  
Author(s):  
Sung-Hee Lee ◽  
Ambarish Goswami
Keyword(s):  
Humanoid Robot ◽  
Balance Control ◽  
Reaction Mass

scholarly journals Adaptive Balance Control of Tendon-driven Type Humanoid Robot

2006 ◽  
Vol 42 (11) ◽  
pp. 1188-1197
Author(s):  
Takayuki NAKAYAMA ◽  
Atsushi YAMADA ◽  
Hideo FUJIMOTO ◽  
Hidenori KIMURA
Keyword(s):  
Humanoid Robot ◽  
Balance Control

scholarly journals Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

2018 ◽  
Vol 49 (7-8) ◽  
pp. 521-538
Author(s):  
Concepción A. Monje ◽  
Santiago Martinez ◽  
Paolo Pierro ◽  
Carlos Balaguer
Keyword(s):  
Real Time ◽  
Humanoid Robot ◽  
Balance Control ◽  
Whole Body ◽  
Stability Regions ◽  
Body Balance

scholarly journals Posture control for humanoid robot on uneven ground and slopes using inertial sensors

2020 ◽  
Vol 12 (9) ◽  
pp. 168781402095718
Author(s):  
Shu-Yin Chiang ◽  
Jin-Long Wang
Keyword(s):  
Humanoid Robot ◽  
Inertial Sensors ◽  
Balance Control ◽  
Gait Pattern ◽  
Posture Control ◽  
Balance System ◽  
Open Platform ◽  
Mean Filter ◽  
Stable Gait ◽  
Control Balance

We designed a stable gait pattern and posture-control balance system to enable a biped humanoid robot to maintain balance and avoid falling when walking on uneven ground or slopes. In this study, we first examined the problem of gait generation and the balance of a humanoid robot and then proposed a posture-control balance system using the inertial sensors of a gyroscope and accelerometer to sense the tilt angle of the robot according to the environment. To process the data obtained by the sensors, the mean filter was applied to eliminate the noise in the data, and the complementary filter was used to properly combine the data from both the gyroscope and accelerometer. The system further modifies the gait and posture of the robot based on the results obtained through a fuzzy system to attain the angle of balance and stabilization. A robot with an open platform was used to test the implementation of the proposed algorithm, and the experimental results demonstrated that the robot could successfully maintain balance when walking uphill and downhill on uneven surfaces. Moreover, because only one parameter needs to be adjusted when applying the balance-control system, the system can be easily extended to any related humanoid robot.

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