自 2011 年 3 月 8 日 开始统计:
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| Balance control plays a significant role of handling disturbances for biped robots especially in the case of walking on uneven terrains. In this paper, we present three balance controllers allowing the robot to walk on uneven terrains which are not modeled in advance. The first one is feedback control to the gait pattern generator using the latest robot state. The second one is ankle joints control based on inertial sensors preventing the robot from tilting. The last one can resist large disturbances in the way of generating a recovery moment by lowering down the Center of Gravity (CoG). The planned foot step trajectory and CoG Trajectory are strictly followed. So it has a great advantage of walking on uneven terrains. The proposed methods are demonstrated on a real robot named Nao (58cm height) which has been widely used in RoboCup. |
自 2011 年 3 月 8 日 开始统计: |