CLC number: TP242
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2015-06-08
Cited: 0
Clicked: 6027
Chao Li, Rong Xiong, Qiu-guo Zhu, Jun Wu, Ya-liang Wang, Yi-ming Huang. Push recovery for the standing under-actuated bipedal robot using the hip strategy[J]. Frontiers of Information Technology & Electronic Engineering, 2015, 16(7): 579-593.
@article{title="Push recovery for the standing under-actuated bipedal robot using the hip strategy",
author="Chao Li, Rong Xiong, Qiu-guo Zhu, Jun Wu, Ya-liang Wang, Yi-ming Huang",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="16",
number="7",
pages="579-593",
year="2015",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.14a0230"
}
%0 Journal Article
%T Push recovery for the standing under-actuated bipedal robot using the hip strategy
%A Chao Li
%A Rong Xiong
%A Qiu-guo Zhu
%A Jun Wu
%A Ya-liang Wang
%A Yi-ming Huang
%J Frontiers of Information Technology & Electronic Engineering
%V 16
%N 7
%P 579-593
%@ 2095-9184
%D 2015
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.14a0230
TY - JOUR
T1 - Push recovery for the standing under-actuated bipedal robot using the hip strategy
A1 - Chao Li
A1 - Rong Xiong
A1 - Qiu-guo Zhu
A1 - Jun Wu
A1 - Ya-liang Wang
A1 - Yi-ming Huang
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 16
IS - 7
SP - 579
EP - 593
%@ 2095-9184
Y1 - 2015
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.14a0230
Abstract: This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip. However, errors in the angle or angular velocity of body posture may appear, due to the dynamic coupling of the translational and rotational motions. To solve this problem, different hip strategies are discussed for two cases when (1) external disturbance is applied on the center of mass (CoM) and (2) external torque is acting around the CoM, and a universal hip strategy is derived for most disturbances. Moreover, three torque primitives for the hip, depending on the type of disturbance, are designed to achieve translational and rotational balance recovery simultaneously. Compared with closed-loop control, the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance. Finally, simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods.
This paper is focused on simultaneous balance control and posture recovery problems. The balance and posture control using only the hip joint torque is a challenging and interesting problem since it contains a non-holonomic constraint. The method proposed seems effective for this problem. Overall, this is a solid paper.
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