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Balance control of planar biped robots using virtual holonomic constraints

Published online by Cambridge University Press:  15 August 2014

Yong Hu  and
Zhiyun Lin
Yong Hu*
Affiliation:
Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing 100190P. R. China
Zhiyun Lin
Affiliation:
The State Key Laboratory of Industrial Control Technology and College of Electrical Engineering, Zhejiang University, Hangzhou 310027P. R. China, and the School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia Email: linz@zju.edu.cn
*
*Corresponding author. E-mail: nhhy@hotmail.com
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Summary

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.

Keywords

Biped robotStable standingUnderactuated system
Type
Articles
Information
Robotica , Volume 34 , Issue 6 , June 2016 , pp. 1227 - 1242
Copyright
Copyright © Cambridge University Press 2014 

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