Ankle Variable Impedance Control for Humanoid Robot Upright Balance Control

Yin, Kaiyang, Xue, Yaxu, Wang, Yifei and Yang, Longzhi (2022) Ankle Variable Impedance Control for Humanoid Robot Upright Balance Control. In: Advances in Computational Intelligence Systems: Contributions Presented at the 20th UK Workshop on Computational Intelligence, September 8-10, 2021, Aberystwyth, Wales, UK. Advances in Intelligent Systems and Computing, 1409 . Springer, Cham, pp. 203-214. ISBN 9783030870935, 9783030870942

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Upright balance control is the most fundamental, yet essential, function of a humanoid robot to enable the performance of various tasks that are traditionally performed by human being in various unstructured environments. Such control schemes were conventionally implemented by developing accurate physical and kinematic models based on fixed torque-ankle states, which often lack robustness to external disturbing forces. This paper presents a variable impedance control method that generates the desired torques for stable humanoid robot upright balance control, to address this limitation. The robustness of the proposed method was brought by a variable parameter approach with the support of the impedance model. The variable parameter of the ankle angle is able to describe the balance state of a humanoid robot, and the proper adjustment of such parameter ensures the effectiveness of the control model. The proposed approach was applied to a humanoid robot on a moving vehicle, and the experimental results demonstrated its efficacy and robustness.

Item Type: Book Section
Additional Information: 20th UK Workshop on Computational Intelligence: UKCI 2021, Aberystwyth, 8-10 Sep 2021
Uncontrolled Keywords: Impedance control, humanoid robot control, balance control, robotic control
Subjects: G400 Computer Science
H600 Electronic and Electrical Engineering
Department: Faculties > Engineering and Environment > Computer and Information Sciences
Depositing User: John Coen
Date Deposited: 14 Jan 2022 14:57
Last Modified: 18 Nov 2022 08:00

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