A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments

David Galdeano 1 Ahmed Chemori 2 Sébastien Krut 2 Philippe Fraisse 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with a stabilizer for a hybrid kinematic/dynamic control scheme for humanoid robots. The proposed solution is based on a nonlinear PID regulation of the ZMP, coupled with a spherical projection in the CoM's control space. The result of such a stabilizer is a dynamically stable motion, even with large variations in the inclination of the ground. The effectiveness of this new stabilizer has been demonstrated through real-time experiments on the humanoid robot HOAP-3. The produced motion is smooth and dynamically stable.
Keywords : HOAP-3
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Conference papers
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David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments. Humanoids, Nov 2014, Madrid, Spain. pp.693-698, ⟨10.1109/HUMANOIDS.2014.7041438⟩. ⟨lirmm-01089549⟩

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