Abstract
Abstract This work presents a standing balance control method against external disturbance for the position control-based humanoid robot. The method consists of a simple but effective posture estimator, a state machine based on capture point and a virtual model exhibiting the variable compliance. The posture estimator appraises the influence of external disturbances. The state machine switches the strategies for humanoid push recovery. The virtual model applied on position-based robot enables the robot to have both obedience and resistance to the external force in the stable state. The proposed method was tested on a position control-based humanoid robot “KONG” with 14 degrees of freedom. Experiments and related data show the humanoid robot “KONG” has perfect balance performance for various external force disturbances.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
