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Integral Control of Humanoid Balance Benjamin Stephens
 

Summary: Integral Control of Humanoid Balance
Benjamin Stephens
The Robotics Institute
Carnegie Mellon University
Pittsburgh, PA 15213, USA
bstephens@cmu.edu
http://www.cs.cmu.edu/bstephe1
Abstract-- This paper presents a balance controller that
allows a humanoid to recover from large disturbances and still
maintain an upright posture. Balance is achieved by integral
control, which decouples the dynamics and produces smooth
torque signals. Simulation shows the controller performs better
than other simple balance controllers. Because the controller
is inspired by human balance strategies, we compare human
motion capture and force plate data to simulation. A model
tracking controller is also presented, making it possible to
control complex robots using this simple control.
I. INTRODUCTION
A fundamental control problem for humanoids is balanc-
ing, which is related to the control of unstable systems such

  

Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University
Carnegie Mellon University, School of Computer Science, Informedia Project

 

Collections: Computer Technologies and Information Sciences; Engineering