ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.16

Ozawa, Ryuta (Ritsumeikan University), Ishizaki, Jun'ya (Ritsumeikan University)

Passivity-Based Balance Control for a Biped Robot

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Humanoid and Bipedal Locomotion


This paper proposes a balance control method for a biped based on passivity. In this method, we design a controller to stabilize the position of the center of mass (COM), the orientation of the upper body and the motion of the swing leg using the kinematic model of a biped. The proposed method is not hindered by complexity of the computation because the proposed controller executes no trajectory planning and uses only a compact feedback for implementation. It is also robust to errors caused by the environment or internal motion. We prove the stability of the system according to the Lyapunov’s direct method. Selected simulations are executed to validate the effectiveness and robustness of the proposed controller.



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