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A Nonlinear PID Stabilizer With Spherical Projection for Humanoids: From Concept to Real-time Experiments
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
Cited literature [31 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01089549
Contributor : David Galdeano <>
Submitted on : Tuesday, December 2, 2014 - 2:48:30 AM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Tuesday, March 3, 2015 - 10:20:26 AM
Contributor : David Galdeano <>
Submitted on : Tuesday, December 2, 2014 - 2:48:30 AM
Last modification on : Tuesday, December 10, 2019 - 8:52:01 PM
Document(s) archivé(s) le : Tuesday, March 3, 2015 - 10:20:26 AM
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Humanoids14.pdf
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