TY - GEN
T1 - Virtual-model-based compliance control for pushing recovery of position controlled humanoid robots
AU - Chen, Huanzhong
AU - Huang, Gao
AU - Li, Qingqing
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Motion of humanoid robots in human environments is subject to various unknown disturbances. Standing and walking in such environments, especially under unknown external disturbances, has always been a problem. We hope to achieve full-body compliance control for pushing recovery of position controlled humanoid robots under unknown disturbances. So, we propose a compliance controller for standing maintenance based on virtual model control. The controller uses the concept of impedance and admittance control. An AMPM (Angular Momentum inducing inverted Pendulum Model)-based virtual model with variable gain is adopted to generate the recovery force while a viscoelasticity-based admittance controller is used to apply the recovery force to the desired trajectory, which could be adjusted to meet the performance of the robot. Simulations in V-REP by exerting external force demonstrate the effectiveness and robustness of our method.
AB - Motion of humanoid robots in human environments is subject to various unknown disturbances. Standing and walking in such environments, especially under unknown external disturbances, has always been a problem. We hope to achieve full-body compliance control for pushing recovery of position controlled humanoid robots under unknown disturbances. So, we propose a compliance controller for standing maintenance based on virtual model control. The controller uses the concept of impedance and admittance control. An AMPM (Angular Momentum inducing inverted Pendulum Model)-based virtual model with variable gain is adopted to generate the recovery force while a viscoelasticity-based admittance controller is used to apply the recovery force to the desired trajectory, which could be adjusted to meet the performance of the robot. Simulations in V-REP by exerting external force demonstrate the effectiveness and robustness of our method.
UR - http://www.scopus.com/inward/record.url?scp=85078343034&partnerID=8YFLogxK
U2 - 10.1109/ARSO46408.2019.8948772
DO - 10.1109/ARSO46408.2019.8948772
M3 - Conference contribution
AN - SCOPUS:85078343034
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 265
EP - 269
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -