ON THE BALANCING CONTROL OF HUMANOID ROBOT
Youngjin Choi, Doik Kim
2007
Abstract
This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoid robot. Also, we prove that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model.
DownloadPaper Citation
in Harvard Style
Choi Y. and Kim D. (2007). ON THE BALANCING CONTROL OF HUMANOID ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 248-252. DOI: 10.5220/0001623302480252
in Bibtex Style
@conference{icinco07,
author={Youngjin Choi and Doik Kim},
title={ON THE BALANCING CONTROL OF HUMANOID ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={248-252},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001623302480252},
isbn={978-972-8865-83-2},
}
in EndNote Style
TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ON THE BALANCING CONTROL OF HUMANOID ROBOT
SN - 978-972-8865-83-2
AU - Choi Y.
AU - Kim D.
PY - 2007
SP - 248
EP - 252
DO - 10.5220/0001623302480252