ICRA 2011 Paper Abstract


Paper TuP102.3

An, Sang-ik (Korea Advanced Institute of Science and Technology (KAIST)), Kwon, Dong-Soo (KAIST)

Zero-Moment Point Feedback Balance Control of Leg-Wheel Hybrid Structures by Using Dynamic Decoupling and Control Allocation

Scheduled for presentation during the Regular Sessions "Multi-legged Robots" (TuP102), Tuesday, May 10, 2011, 14:10−14:25, Room 3C

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 Multi-legged Robots, Redundant Robots, Wheeled Robots


This paper proposes a balance control algorithm which uses Zero Moment Point (ZMP) in order to improve the mobility of leg-wheel hybrid structures on hard, flat surfaces. The algorithm generates balancing leg motions which continuously adjust the contact points to allow the geometric center of the contact area to follow ZMP. During our simulation of a balance control system which uses Individual Joint PD Control (IJPD), we encountered two main problems—high frequency oscillation and unbalanced control input. To solve these issues, we derived a method for dynamic decoupling and control allocation (DDCA). We tested the effectiveness of the proposed algorithm by simulating the maximum distance that a robot can stably move during a fixed time period. There are three important advantages to our proposed balance control algorithm. First, the balancing motions have no effect on the primary tasks of its arms and upper body. Second, the interaction forces between the contact points are minimized, thereby reducing an unbalance of the control inputs. Third, the task dynamics are decoupled and controlled independently.



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