Full-body motion control of a humanoid robot

Aktaş, Ali Furkan (2021) Full-body motion control of a humanoid robot. [Thesis]

[thumbnail of 10442293_Aktas_Ali_Furkan.pdf] PDF

Download (11MB)


Legged systems such as biped robots are more suitable for dynamic tasks to work with humans. Biped robots can achieve better maneuverability and efficiently avoid obstacles because they have better agility and flexibility than other mobile systems like wheeled vehicles. However, the challenges of controlling the biped robots with full-body motion create instability and increase the chance of falling or failure of achieving the tasks. The thesis presents a method in which the robot maintains balance while pushing the wall in front of it using the reference body reaction forces obtained from the inverse dynamics method. The reference ground reaction forces for both feet are obtained with an optimization technique that uses linear constraints. Calculating the reference ground reaction force allows generating the leg joint torques for the double support phase. Also, a hybrid control method for manipulating arms is introduced to apply the desired pushing force to the wall. To validate the proposed method, a simulation environment is constructed for the 30-DOF biped robot that includes 3D dynamics and external force reaction models.
Item Type: Thesis
Uncontrolled Keywords: Humanoid.-- Pushing Control. -- Parameter Tuning. -- Ground Force Interaction. --Object Force Interaction. -- Balance Control.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Dila Günay
Date Deposited: 21 Jun 2022 14:25
Last Modified: 21 Jun 2022 14:25
URI: https://research.sabanciuniv.edu/id/eprint/42958

Actions (login required)

View Item
View Item