Cart (Loading....) | Create Account
Close category search window
 

Stabilization control for humanoid robot to walk on inclined plane

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yong-Duk Kim ; Agency for Defense Dev., Daejeon ; In-Won Park ; Jeong-Ki Yoo ; Jong-Hwan Kim

In this paper, a novel stabilization control is proposed for humanoid robot to walk dynamically on an inclined plane. Online walking control is indispensable to obtain a stable dynamic walking, even if the walking pattern is provided based on a zero moment point and an angular momentum because modeling errors and external disturbances, which are not expected in the modeling stage, may exist in the actual condition. Considering these issues, this paper proposes a stabilization control, which consists of landing force controller, posture controller and walking pattern generator to walk on the inclined plane. The proposed control does not require a complex dynamic equation of robot and the adjustment of control parameters because it is based on time-domain passivity approach. Moreover, it can guarantee the stability of the controller without requiring any dynamic model information. The proposed control is verified through dynamic walking simulations using Webots simulator.

Published in:

Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on

Date of Conference:

1-3 Dec. 2008

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.