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 Citation (Scopus)

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 publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume17
Edition1 PART 1
DOIs
StatePublished - 2008
Externally publishedYes
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Other

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

Fingerprint

Vibration control
Robots
Vibrations (mechanical)
Experiments

Keywords

  • Identification and control methods
  • Intelligent robotics
  • Robotics technology

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Chang, Y. H., Oh, Y., Kim, D., & Hong, S. (2008). Vibration suppression and balance control for biped humanoid walking. In IFAC Proceedings Volumes (IFAC-PapersOnline) (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.1589

Vibration suppression and balance control for biped humanoid walking. / Chang, Young Hwan; Oh, Yonghwan; Kim, Doik; Hong, Seokmin.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.

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

Chang, YH, Oh, Y, Kim, D & Hong, S 2008, Vibration suppression and balance control for biped humanoid walking. in IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.1589
Chang YH, Oh Y, Kim D, Hong S. Vibration suppression and balance control for biped humanoid walking. In IFAC Proceedings Volumes (IFAC-PapersOnline). 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.1589
Chang, Young Hwan ; Oh, Yonghwan ; Kim, Doik ; Hong, Seokmin. / Vibration suppression and balance control for biped humanoid walking. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 17 1 PART 1. ed. 2008.
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