In this paper, we study the comprehensive application of compliant control in position-based humanoid robot. In order to enhance the external disturbance resistance and terrain adaptability of humanoid robot, we propose three compliant controller which apply to the control system. Firstly, we propose the body compliant controller based on linear inverted pendulum and spring-damping model (LIP-SDM) which can achieve the compliant response of the body. Secondly, we design an compliant controller based on single-link spring-damping model, which can achieve compliant response when the swing leg collides with an obstacle. Finally, an compliant controller of ankle joint is proposed which is based on the compliant inverted pendulum (CIP) model for terrain adaptation. The application of three compliant controllers effectively enhances the adaptability of humanoid robots to external disturbances and uneven terrain. The proposed methods are implemented on our humanoid robot, UBTECH Walker, and its performance are demonstrated through improved stability and adaptability during standing and walking.


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    Title :

    Application of Compliant Control in Position-Based Humanoid Robot


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Chen, Chunyu (author) / Ge, Ligang (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    11 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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