Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Observer based biped walking control, a sensor fusion approach

Observer based biped walking control, a sensor fusion approach In humanoid walking research, the prevailing approach is to utilize an abstraction of the robot to a single center of mass (3D linear inverted pendulum mode). Smaller disturbances or an oscillation of the body are typical for a walking robot and must be addressed by an appropriate sensor feedback. To this end, this paper proposes a novel observer fusing joint angle sensors and force sensing resistors. This new method of sensor feedback in a preview control system balances the walk by damping those disturbances and oscillations of the body. Moreover, novel stabilizing methods for defining reference trajectories for the zero moment point and limbs are examined. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Observer based biped walking control, a sensor fusion approach

Autonomous Robots , Volume 35 (1) – Apr 23, 2013

Loading next page...
 
/lp/springer-journals/observer-based-biped-walking-control-a-sensor-fusion-approach-QuPNjcDhdm

References (36)

Publisher
Springer Journals
Copyright
Copyright © 2013 by Springer Science+Business Media New York
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1007/s10514-013-9333-4
Publisher site
See Article on Publisher Site

Abstract

In humanoid walking research, the prevailing approach is to utilize an abstraction of the robot to a single center of mass (3D linear inverted pendulum mode). Smaller disturbances or an oscillation of the body are typical for a walking robot and must be addressed by an appropriate sensor feedback. To this end, this paper proposes a novel observer fusing joint angle sensors and force sensing resistors. This new method of sensor feedback in a preview control system balances the walk by damping those disturbances and oscillations of the body. Moreover, novel stabilizing methods for defining reference trajectories for the zero moment point and limbs are examined.

Journal

Autonomous RobotsSpringer Journals

Published: Apr 23, 2013

There are no references for this article.