Vibration suppression and balance control for biped humanoid walking

Young Hwan Chang, Yonghwan Oh, Doik Kim, Seokmin Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
DOIs
StatePublished - Dec 1 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Keywords

  • Identification and control methods
  • Intelligent robotics
  • Robotics technology

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Chang, Y. H., Oh, Y., Kim, D., & Hong, S. (2008). Vibration suppression and balance control for biped humanoid walking. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.1589