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A force-resisting balance control strategy for a walking biped robot under an unknown, continuous force

Published online by Cambridge University Press:  03 December 2014

Yeoun-Jae Kim ,
Joon-Yong Lee  and
Ju-Jang Lee
Yeoun-Jae Kim
Affiliation:
Robotics Program, Korea Advanced Science and Technology, Euseong-Gu Daehak-Ro 291, Daejeon, Korea. E-mail: [email protected]
Joon-Yong Lee*
Affiliation:
Department of Genetics Development and Cell Biology, Iowa State University, Ames, Iowa 50011, USA
Ju-Jang Lee
Affiliation:
Electrical Engineering, Korea Advanced Science and Technology, Euseong-Gu Daehak-Ro 291, Daejeon, Korea. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

In this paper, we propose and examine a force-resisting balance control strategy for a walking biped robot under the application of a sudden unknown, continuous force. We assume that the external force is acting on the pelvis of a walking biped robot and that the external force in the z-direction is negligible compared to the external forces in the x- and y-directions. The main control strategy involves moving the zero moment point (ZMP) of the walking robot to the center of the robot's sole resisting the externally applied force. This strategy is divided into three steps. The first step is to detect an abnormal situation in which an unknown continuous force is applied by examining the position of the ZMP. The second step is to move the ZMP of the robot to the center of the sole resisting the external force. The third step is to have the biped robot convert from single support phase (SSP) to double support phase (DSP) for an increased force-resisting capability. Computer simulations and experiments of the proposed methods are performed to benchmark the suggested control strategy.

Keywords

Biped robotInverted pendulum modelBalance controlContinuous force
Type
Articles
Information
Robotica , Volume 34 , Issue 7 , July 2016 , pp. 1495 - 1516
Copyright
Copyright © Cambridge University Press 2014 

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