Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum

Released on by Saurav Singh
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  • Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum Book Detail

  • Author : Saurav Singh
  • Release Date : 2020
  • Publisher :
  • Genre : Robots
  • Pages : 68
  • ISBN 13 :
  • File Size : 55,55 MB
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Pursh Recovery for Humanoid Robots Using Linearized Double Inverted Pendulum by Saurav Singh PDF Summary

Book Description: "Biped robots have come a long way in imitating a human being's anatomy and posture. Standing balance and push recovery are some of the biggest challenges for such robots. This work presents a novel simplified model for a humanoid robot to recover from external disturbances. The proposed Linearized Double Inverted Pendulum, models the dynamics of a complex humanoid robot that can use ankle and hip recovery strategies while taking full advantage of the advances in controls theory research. To support this, an LQR based control architecture is also presented in this work. The joint torque signals are generated along with ankle torque constraints to ensure the Center of Pressure stays within the support polygon. Simulation results show that the presented model can successfully recover from external disturbances while using minimal effort when compared to other widely used simplified models. It optimally uses the the torso weight to generate angular momentum about the pelvis of the robot to counter-balance the effects of external disturbances. The proposed method was validated on simulated `TigerBot-VII', a humanoid robot."--Abstract.

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RiTA 2020

RiTA 2020

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This book gathers the Proceedings of the 8th International Conference on Robot Intelligence Technology and Applications (RITA 2020). The areas covered include: