Castano, JA, Humphreys, J orcid.org/0000-0001-5759-2092, Mingo Hoffman, E et al. (3 more authors) (2022) Benchmarking Dynamic Balancing Controllers for Humanoid Robots. Robotics, 11 (5). 114. ISSN 2218-6581
Abstract
This paper presents a comparison study of three control design approaches for humanoid balancing based on the Center of Mass (CoM) stabilization and body posture adjustment. The comparison was carried out under controlled circumstances allowing other researchers to replicate and compare our results with their own. The feedback control from state space design is based on simple models and provides sufficient robustness to control complex and high Degrees of Freedom (DoFs) systems, such as humanoids. The implemented strategies allow compliant behavior of the robot in reaction to impulsive or periodical disturbances, resulting in a smooth and human-like response while considering constraints. In this respect, we implemented two balancing strategies to compensate for the CoM deviation. The first one uses the robot’s capture point as a stability principle and the second one uses the Force/Torque sensors at the ankles to define a CoM reference that stabilizes the robot. In addition, was implemented a third strategy based on upper body orientation to absorb external disturbances and counterbalance them. Even though the balancing strategies are implemented independently, they can be merged to further increase balancing performance. The proposed strategies were previously applied on different humanoid bipedal platforms, however, their performance could not be properly benchmarked before. With this concern, this paper focuses on benchmarking in controlled scenarios to help the community in comparing different balance techniques. The key performance indicators (KPIs) used in our comparison are the CoM deviation, the settling time, the maximum measured orientation, passive gait measure, measured ankles torques, and reconstructed Center of Pressure (CoP). The benchmarking experiments were carried out in simulations and using the facility at Istituto Italiano di Tecnologia on the REEM-C humanoid robot provided by PAL robotics inside the EU H2020 project EUROBENCH framework.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
Keywords: | bipedal stabilization; body balance; model predictive control |
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) |
Funding Information: | Funder Grant number EU - European Union Not Known |
Depositing User: | Symplectic Publications |
Date Deposited: | 25 Oct 2022 14:34 |
Last Modified: | 28 Jun 2023 10:12 |
Status: | Published |
Publisher: | MDPI |
Identification Number: | 10.3390/robotics11050114 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:192464 |
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