A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in real-time.

[1]  Atsuo Takanishi,et al.  Learning Control Of Compensative Trunk Motion For Biped Walking Robot Based On ZMP Stability Criterion , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Masahiro Fujita,et al.  Autonomous behavior control architecture of entertainment humanoid robot SDR-4X , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[3]  Taku Komura,et al.  C/sup 2/ continuous gait-pattern generation for biped robots , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[4]  S. Nakaura,et al.  Balance control analysis of humanoid robot based on ZMP feedback control , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[5]  T. Komura,et al.  Continuous Gait-Pattern Generation for Biped Robots , 2003 .

[6]  Shuuji Kajita,et al.  Real-time 3D walking pattern generation for a biped robot with telescopic legs , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[7]  Shuuji Kajita,et al.  Dynamic walking control of a biped robot along a potential energy conserving orbit , 1992, IEEE Trans. Robotics Autom..

[8]  Kazuhito Yokoi,et al.  Resolved momentum control: humanoid motion planning based on the linear and angular momentum , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[9]  T. Takenaka,et al.  The development of Honda humanoid robot , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[10]  Kazuhito Yokoi,et al.  Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[11]  Atsuo Kawamura,et al.  Robust biped walking with active interaction control between robot and environment , 1996, Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE.

[12]  Masayuki Inaba,et al.  Online mixture and connection of basic motions for humanoid walking control by footprint specification , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).