One of the most important and complex tasks for a humanoid robot is to avoid overturning during a bipedal gait. This work aims at setting the base for designing a general balance controller to be used with any humanoid robot. In addition, it is based on a strong simplification of humanoid model which attempts to be used in real-time applications. In particular, several "stability zones" are defined as function of the criticalness of balance. The results are presented in simulation and experimentally, using the humanoid platforms HOAP-3 and TEO. ; The research leading to these results has received funding from the ROBOHEALTH-A project DPI2013-47944-C4-1-R, funded by the Spanish Ministry of Economy and Competitiveness, and from the RoboCity2030-III-CM project (S2013/MIT-2748), funded by Programas de Actividades I + D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.


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    Titel :

    Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach



    Erscheinungsdatum :

    2018-01-15


    Anmerkungen:

    AR/0000024578



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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