Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

Abstract

Biped robots are expected to keep stability after experiencing unknown disturbances which often exist in human daily environments. This paper presents a novel method to reject omnidirectional disturbances by optimizing the accelerations of the floating base of the robot. The optimized accelerations keep the desired external forces within their constraints and generate coordinated whole-body motion to reject disturbances from all directions. The effectiveness of the proposed method is confirmed by simulations with disturbance-rejection scenarios.

Impact motion control of humanoid robot BHR-5 based on the energy integral method

“…In this article, inspired by the work in Urata et al, 18 Grosu et al 23 and Yu et al 24 and extending our previous work in Yu et al, 14,25 a novel impact motion control system of the humanoid robot based on energy integral method is proposed. For the purpose of preserving the working space of the humanoid robot, our control strategy is to act on improving the force of the joint actuator and the motion pattern generation algorithm.…”

“…Thus, a large portion of studies have focused on improving the motion performance of the humanoid robots. [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16] For several years, many researchers have proposed a considerable number of approaches in terms of mechanism, actuator, or control method. Among these methods, the most fundamental way is changing the mechanism or increasing the power of the actuator.…”