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Humanoid robot orientation stabilization by shoulder joint motion during locomotion

Özel, Selim and Eskimez, Şefik Emre and Erbatur, Kemalettin (2013) Humanoid robot orientation stabilization by shoulder joint motion during locomotion. In: 9th Asian Control Conference (ASCC 2013), Istanbul, Turkey

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Official URL: http://dx.doi.org/10.1109/ASCC.2013.6606339

Abstract

Arm swing action is a natural phenomenon that emerges in biped locomotion. A shoulder torque reference generation method is introduced in this paper to utilize arms of a humanoid robot during locomotion. Main idea of the technique is the employment of shoulder joint actuation torques in order to stabilize body orientation. The reference torques are computed by a method which utilizes proportional and derivative actions. Body orientation angles serve as the inputs of this system. The approach is tested via simulations with the 3D full-dynamics model of the humanoid robot SURALP (Sabanci University Robotics Research Laboratory Platform). Results indicate that the method is successful in reducing oscillations of body angles during bipedal walking.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:humanoid robot, biped locomotion, arm swing
Subjects:UNSPECIFIED
ID Code:23696
Deposited By:Kemalettin Erbatur
Deposited On:08 Jan 2014 14:56
Last Modified:08 Jan 2014 14:56

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