[1]WANG Jong-chwen,NI Shih-chiuan,HUANG Chia-ching,et al.Dynamic balance for bipedal robots[J].CAAI Transactions on Intelligent Systems,2009,4(5):463-470.[doi:10.3969/j.issn.1673-4785.2009.05.013]
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Dynamic balance for bipedal robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 4 Number of periods: 2009 5 Page number: 463-470 Column: 学术论文—智能系统 Public date: 2009-10-25
Title:
Dynamic balance for bipedal robots
Author(s):
WANG Jong-chwen;  NI Shih-chiuan;  HUANG Chia-ching;  LI Ming-che;  CHENG Hui-teng;  KUO Yi-chun
Department of Electrical Engineering, Yuan Ze University, Chung-Li 32003， China
Keywords:
biped robot;  dynamic state control;  fuzzy control
CLC:
TP242
DOI:
10.3969/j.issn.1673-4785.2009.05.013
Abstract:
The main purpose of this paper was to study how to enhance the dynamic balance of bipedal robots during walking or when interacting with external forces. Their stability while standing was also examined. The dynamic equilibrium of the tested biped robots resulted from built-in dynamic control programs which were written in the Nios development environment. To get pressure values from the pressure sensors of biped robots, we used control algorithms to compute the position of the actual center of gravity (CoG) and also to determine whether the CoG fell inside the polygon defining the area of balance for the robot. It was found possible to use a fuzzy controller to compensate for errors due to differences between the actual CoG and the theoretical one. The objective was to keep the CoG within the supporting polygon area. This helped the bipedal robots walk more steadily and also improved their overall stability when standing. The experimental results show that this method is effective.
References:
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