Humanoid Dynamic Controller

• Type: Article in International Scientific Journal
• Date: 2012

Authors

Rui Monteiro (Author) FEUP; Luís Paulo Reis (Author) FEUP; António Pereira (Author) FEUP

Journal

Title: TELKOMNIKA Indonesian Journal of Electrical Engineering

Vol. 10 No. 8

Pages: 1936-1947

ISSN: 2087-278X

Publisher: Institute of Advanced Engineering and Science

Indexing

COMPENDEX

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-00H-ZSY

Abstract (EN): In the last years several investigators have focused on the development and control of humanoid robots able to acquire human behaviors and features, in order to be able to interact with humans and work together with them. The fall of a umanoid robot can lead to damages, which entail costs for repair or even human health risks, so ensuring stability is a main concern in terms of cost and safety. This document presents the implementation of a dynamic controller for humanoid robots, able to position the robot's center of mass in a certain location operating as a stability module. It is also described a precise behavior of preparing an omnidirectional kick for a humanoid robot by placing the support foot in a precise position and orientation calculated in accordance with the robot's position, the ball and the target, and by transferring the robot's center of mass to the desired position.

Language: English

Type (Professor's evaluation): Scientific