Abstract
To reach competent Human-Robot Interaction, robots should be able to behave stably on uneven terrain in domestic environments. This paper addresses a technique, which integrates four balance control strategies and is used on Nao robot to realize walking on uneven terrain that is not modelled in advance. The most important two strategies are “Closed Loop Gait Pattern Generator” and “Posture Control”. The former one uses the filtered robot state based on Kalman filter. It helps to improve joint tracking, which is important for model based approaches. The latter one helps to make the trunk vertical to the ground. This strategy is very effective when walking on a slope. The other two strategies are “CoG (Center of Gravity) Height Control” and “Ankle Joint Control”, which are used to resist relatively large tilt and prevent potential falling over motion. abstract environment.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: Mechatronic design of nao humanoid. In: IEEE International Conference on Robotics and Automation (2009)
Xue, F., Chen, X., Liu, J., Nardi, D.: Real Time Biped Walking Gait Pattern Generator for a Real Robot. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds.) RoboCup 2011. LNCS, vol. 7416, pp. 210–221. Springer, Heidelberg (2012)
Diedam, H., Dimitrov, D., Wieber, P.-B., Mombaur, K., Diehl, M.: Online walking gait generation with adaptive foot positioning through linear model predictive control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2008)
Pratt, J., Carff, J., Drakunov, S., Goswami, A.: Capture point: A step toward humanoid push recovery. In: Proceedings of IEEE International Conference on Humanoids (2006)
Liu, J., Xue, F., Chen, X.: A universal biped walking generator for complex environments with pattern feasibility checking. International Journal of Humanoid Robotics 08(2), 323 (2011)
Liu, J., Manuela, V.: Online zmp sampling search for biped walking planning. In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (2008)
Nishiwaki, K., Kagami, S.: Walking control on uneven terrain with short cycle pattern generation. In: Proceedings of IEEE International Conference on Humanoids (2007)
Tajima, R., Honda, D., Suga, K.: Fast running experiments involving a humanoid robot. In: IEEE International Conference on Robotics and Automation (2009)
Kajita, S., Kanehiro, F., Kanako, K., Yokoi, K., Hirukawa, H.: The 3D Linear Inverted Pendulum Model: A simple modeling for a biped walking pattern generation. In: IEEE/RSJ Int. Conf. on Intelligent Robots and System, IROS 2001, Hawaii, USA (2001)
Takenaka, T., Matsumoto, T., Yoshiike, T., Hasegawa, T., Shirokura, S., Kaneko, H., Orita, A.: Real time motion generation and control for biped robot - 4th report: Integrated balance control. In: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (2009)
Wieber, P.B.: Trajectory free linear model predictive control for stable walking in the presence of strong perturbations. In: Proceedings of IEEE International Conference on Humanoids (2006)
Sugahara, Y., Mikuriya, Y., Hashimoto, K., Hosobata, T., Sunazuka, H., Kawase, M., Lim, H.-O., Takanishi, A.: Walking control method of biped locomotors on inclined plane. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Xue, F., Chen, X., Liu, J., Nardi, D. (2013). Integrated Balance Control on Uneven Terrain. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_33
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_33
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)