Zhou, C orcid.org/0000-0002-6677-0855, Li, Z, Wang, X et al. (2 more authors) (2016) Stabilization of bipedal walking based on compliance control. Autonomous Robots, 40 (6). pp. 1041-1057. ISSN 0929-5593
Abstract
The embodiment of physical compliance in humanoid robots, inspired by biology, improves the robustness of locomotion in unknown environments. The mechanical implementation using elastic materials demands a further combination together with controlled compliance to make the intrinsic compliance more effective. We hereby present an active compliance control to stabilize the humanoid robots for standing and walking tasks. Our actively controlled compliance is achieved via admittance control using closed-loop feedback of the six axis force/torque sensors in the feet. The modeling and theoretical formulation are presented, followed by the simulation study. Further, the control algorithms were validated on a real humanoid robot COMAN with inherent compliance. A series of experimental comparisons were studied, including standing balancing against impacts, straight walking, and omni-directional walking, to demonstrate the necessity and the effectiveness of applying controlled compliance on the basis of physical elasticity to enhance compliant foot-ground interaction for the successful locomotion. All data from simulations and experiments related with the proposed controller and the performance are presented, analyzed, and discussed.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © Springer Science+Business Media New York 2015. This is a post-peer-review, pre-copyedit version of an article published in Autonomous Robots. The final authenticated version is available online at: https://doi.org/10.1007/s10514-015-9507-3. |
Keywords: | Compliance control; Walking stabilization; Bipedal walking |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Apr 2019 12:53 |
Last Modified: | 04 Apr 2019 12:53 |
Status: | Published |
Publisher: | Springer US |
Identification Number: | 10.1007/s10514-015-9507-3 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144456 |