Bipedal Balancing Control Based on the Centroidal Momentum Pivot and the Best COM-CMP Regulator

Johannes Mayr; Hubert Gattringer; Hartmut Bremer

Bipedal Balancing Control Based on the Centroidal Momentum Pivot and the Best COM-CMP Regulator

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

For stable walking of bipedal robots it is necessary to stabilize the unactuated degrees of freedom of the robot. Typically this is done by reducing the non-linear multi-body dynamics to a simple approximation and then controlling the linear momentum of the system. In this paper a feedback controller is proposed that also controls the angular momentum in a feedback loop while considering the full multi-body dynamics to extend the set of balanced states.

Original language	English
Title of host publication	Proceedings of 39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013)
Pages	4059-4064
Number of pages	6
Publication status	Published - Nov 2013

Fields of science

203022 Technical mechanics
203013 Mechanical engineering
202035 Robotics
203015 Mechatronics

JKU Focus areas

Mechatronics and Information Processing

Cite this

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title = "Bipedal Balancing Control Based on the Centroidal Momentum Pivot and the Best COM-CMP Regulator",

abstract = "For stable walking of bipedal robots it is necessary to stabilize the unactuated degrees of freedom of the robot. Typically this is done by reducing the non-linear multi-body dynamics to a simple approximation and then controlling the linear momentum of the system. In this paper a feedback controller is proposed that also controls the angular momentum in a feedback loop while considering the full multi-body dynamics to extend the set of balanced states.",

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Bipedal Balancing Control Based on the Centroidal Momentum Pivot and the Best COM-CMP Regulator. / Mayr, Johannes; Gattringer, Hubert ; Bremer, Hartmut.
Proceedings of 39th Annual Conference of the IEEE Industrial Electronics Society (IECON 2013). 2013. p. 4059-4064.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

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AB - For stable walking of bipedal robots it is necessary to stabilize the unactuated degrees of freedom of the robot. Typically this is done by reducing the non-linear multi-body dynamics to a simple approximation and then controlling the linear momentum of the system. In this paper a feedback controller is proposed that also controls the angular momentum in a feedback loop while considering the full multi-body dynamics to extend the set of balanced states.

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