Introduction Motivation Force Controlled Balance Force Controlled Balance Sarcos

Introduction Motivation Force Controlled Balance Force Controlled Balance Sarcos www.phwiki.com

Introduction Motivation Force Controlled Balance Force Controlled Balance Sarcos

Spenard, Jeff, Executive Producer has reference to this Academic Journal, PHwiki organized this Journal Benjamin StephensCarnegie Mellon University9th IEEE-RAS International Conference on Humanoid RobotsDecember 8, 2009Modeling in addition to Control of Periodic Humanoid Balance Using the Linear Biped ModelIntroduction2Motivation3Simple models as long as complex systemsMake complex robot control easierModels as long as human balance controlAchieve stable balance on as long as ce-controlled robot

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Force Controlled Balance4How to h in addition to le perturbations when using low-impedance control on a torque-controlled humanoid robotForce Controlled Balance5How to h in addition to le perturbations when using low-impedance control on a torque-controlled humanoid robotSarcos Humanoid Robot6Hydraulic ActuatorsForce Feedback Joint Controllers33 major DOFs (Lower body = 14)Total mass 94kgOff-board pump (3000 psi)Sarcos Hydraulic Humanoid Robot

Contributions7Linear biped model as long as as long as ce control of balanceSimple description of periodic balance controlApplication of model to estimation in addition to control of Humanoid robotOutlineModeling BalanceControlling BalanceApplications to Humanoid Robot ControlConclusion8Modeling Balance9

General Biped BalanceAssumptions:Zero vertical accelerationNo torque about COMConstraints:COP within the base of support10REFERENCE:Kajita, S.; Tani, K., “Study of dynamic biped locomotion on rugged terrain-derivation in addition to application of the linear inverted pendulum mode,” ICRA 1991General Biped Balance Stability11COM PositionCOM VelocityLinear constraints on the COP define a linear stability region as long as which the ankle strategy is stableREFERENCE:Stephens, “Humanoid Push Recovery,” Humanoids 2007The Linear Biped ModelContact as long as ce is distributed linearly to the two feet.12

The Linear Biped ModelBiped dynamics resemble two superimposed linear inverted pendulums.13The Double Support Region14We define the “Double Support Region” as a fixed fraction of the stance width.Dynamics of Double Support15The dynamics during double support simplify to a simple harmonic oscillatorLIPM Dynamics

Controlling Balance16Phase Space of LiBMLocation of feet17Periodic BalanceGoal: Balance while moving in a cyclic motion, returning to the cycle if perturbed.18

Orbital Energy ControlOrbital Energy:Solution is a simple harmonic oscillator:We control the energy:1920Energy Control Trajectories21

2223Application to Humanoid Balance24

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Humanoid Applications25Linear Biped Model predicts gross body motion in addition to determines a set of as long as ces that can produce that motionState EstimationCombine sensors to predict important features, like center of mass motion.Feed-Forward ControlPer as long as m as long as ce control to generate the desired ground contact as long as ces.Center of Mass Filtering26A (linear) Kalman Filter can combine multiple measurements to give improved position in addition to velocity center of mass estimates.27

Feed-Forward Force Control28LiBM can be used as long as feed as long as ward control of a complex biped system.Full-body inverse dynamics can be reduced to as long as ce control of the COM with respect to each footAdditional controls are applied to bias towards a home pose in addition to to keep the torso vertical.2930

The Linear Biped ModelContact as long as ce is distributed linearly to the two feet.37

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