Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation

Michele Folgheraiter, Alikhan Yessaly, Galym Kaliyev, Asset Yskak, Sharafatdin Yessirkepov, Artemiy Oleinikov, Giuseppina Gini

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

1 Citation (Scopus)

Abstract

This paper presents a computational efficient balance control algorithm developed for a lightweight biped. A LIP model of the robot is combined with the ZMP calculation to derive a joint space control action based on a PD controller. Furthermore, a method is implemented to estimate the ZMP directly from the center of pressure measured using the force sensors installed under the feet of the robot. This, allows a real time implementation of the controller without using the robot direct kinematics, reducing model inaccuracies and improving the controller reactivity. Simulation results and tests on the real robot prototype shows that the control system is able to compensate for external disturbances forces up to 10N reducing the oscillations of 60%.

Original languageEnglish
Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PublisherIEEE Computer Society
Pages232-237
Number of pages6
ISBN (Electronic)9781538672839
DOIs
Publication statusPublished - Jan 23 2019
Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China
Duration: Nov 6 2018Nov 9 2018

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2018-November
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
CountryChina
CityBeijing
Period11/6/1811/9/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Folgheraiter, M., Yessaly, A., Kaliyev, G., Yskak, A., Yessirkepov, S., Oleinikov, A., & Gini, G. (2019). Computational Efficient Balance Control for a Lightweight Biped Robot with Sensor Based ZMP Estimation. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 232-237). [8625016] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8625016