TY - GEN
T1 - Dynamic Torso Posture Compliance Control for Standing Balance of Position-Controlled Humanoid Robots
AU - Li, Qingqing
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Meng, Fei
AU - Meng, Libo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments with unknown disturbances. This paper presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to external disturbances when standing through the controllers based on a viscoelastic model and a double inverted pendulum. The viscoelastic model is used to realize ankle compliance by control the foot postures according to forces and torques measured by force/torque sensors mounted between the foot and ankle. And the double inverted pendulum is adopted to obtain the dynamic compliant movements of torso and calculate the desired torques of ankle compliance controller. With the proposed method, a position-controlled robot can perform impressive torso posture compliance and maintain balance on both rigid and soft ground (turf), which is validated through experiments on the BHR-5T, a position-controlled humanoid robot with high reduction ratios.
AB - Compliance is important for humanoid robots, especially a position-controlled one, to perform tasks in complicated environments with unknown disturbances. This paper presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to external disturbances when standing through the controllers based on a viscoelastic model and a double inverted pendulum. The viscoelastic model is used to realize ankle compliance by control the foot postures according to forces and torques measured by force/torque sensors mounted between the foot and ankle. And the double inverted pendulum is adopted to obtain the dynamic compliant movements of torso and calculate the desired torques of ankle compliance controller. With the proposed method, a position-controlled robot can perform impressive torso posture compliance and maintain balance on both rigid and soft ground (turf), which is validated through experiments on the BHR-5T, a position-controlled humanoid robot with high reduction ratios.
UR - http://www.scopus.com/inward/record.url?scp=85092654050&partnerID=8YFLogxK
U2 - 10.1109/ICARM49381.2020.9195279
DO - 10.1109/ICARM49381.2020.9195279
M3 - Conference contribution
AN - SCOPUS:85092654050
T3 - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 529
EP - 534
BT - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Y2 - 18 December 2020 through 21 December 2020
ER -