Balance control of planar biped robots using virtual holonomic constraints

Title: Balance control of planar biped robots using virtual holonomic constraints
Creator: Hu, Yong; Lin, Zhiyun
Relation: Robotica Vol. 34, Issue 06, p. 1227-1242
Publisher Link: http://dx.doi.org/10.1017/S0263574714002215
Publisher: Cambridge University Press
Resource Type: journal article
Date: 2016
Description: The balance control problem of planar bipedal robots during disturbed standing is investigated. Virtual holonomic constraints which specify the angles of actuated joints as a function of the rotation angle between the sole of the stance foot and the ground are recalled. These constraints enable the robot to avoid turnover during external disturbances similar to how a human being would react. Moreover, for a disturbance beyond the balance conditions for single-leg support, the robot changes to a double support posture to avoid turnover by the virtual holonomic constraints. Further, for a special kind of balance: standing on toe which leads to underactuation, we also give the design conditions of the virtual holonomic constraints.
Subject: biped robot; stable standing; underactuated system
Identifier: http://hdl.handle.net/1959.13/1342854
Identifier: uon:29049
Identifier: ISSN:0263-5747
Language: eng
Reviewed

		Thumbnail	File	Description	Size	Format