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A Torso-Moving Balance Control Strategy for a Walking Biped Robot Subject to External Continuous Forces

Yeoun-Jae Kim

Robotics Program, Korea Advanced Institute of Science and Technology, Euseong-Gu Daehak-Ro 291 Daejeon 305-701, Korea

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Joon-Yong Lee

Department of Genetics Development and Cell Biology, Iowa State University, Ames, Iowa 50011, USA

Corresponding author.

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, and

Ju-Jang Lee

Electrical Engineering Department, Korea Advanced Institute of Science and Technology, Euseong-Gu Daehak-Ro 291, Daejeon 305-701, Korea

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https://doi.org/10.1142/S0219843615500036Cited by:6 (Source: Crossref)

Abstract

Moving the torso laterally in a walking biped robot can be mechanically more torque-efficient than not moving the torso according to recent research. Motivated by this observation, a torque-efficient torso-moving balance control strategy of a walking biped robot subject to a persistent continuous external force is suggested and verified in this paper. The torso-moving balance control strategy consists of a preliminary step and two additional steps. The preliminary step (disturbance detection) is to perceive the application of an external force by a safety boundary of zero moment point, detected approximately from cheap pressure sensors. Step 1 utilizes center of gravity (COG) Jacobian, centroidal momentum matrix and linear quadratic problem calculation to shift the zero moment point to the center of the support polygon. Step 2 makes use of H_∞ controllers for a more stable state shift from single support phase to double support phase. By comparing the suggested torso moving control strategy to the original control strategy that we suggested previously, a mixed balance control strategy is suggested. The strategy is verified through numerical simulation results.

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