Skip to main content
SpringerLink
Log in

Balancing via Position Control

  • Reference work entry
  • First Online:
Humanoid Robotics: A Reference

Abstract

This chapter describes the balancing scheme based on the position control using the kinematic resolution method of center of mass (CoM) Jacobian. First, the simplified rolling sphere model is introduced for bipedal robots. Second, the kinematic resolution method of CoM Jacobian having the embedded task motion makes a humanoid robot to be balanced automatically during the execution of embedded task motion; indeed it offers the ability of whole-body coordination to the humanoid robots. Third, the simultaneous CoM and zero moment point (ZMP) stabilizer consists of the CoM control minus the ZMP control. Also the CoM and ZMP stabilizer brings the disturbance input-to-state stability (ISS) for the simplified robot model. Finally the effectiveness of the CoM and ZMP stabilizer combined with the kinematic resolution method is verified through experiments in regard to dancing and walking of humanoid robot.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 899.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 1,099.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, K. Tanie, Planning walking patterns for a biped robot, in Proceedings of IEEE International Conference on Robotics and Automation, 2001, pp. 280–289

    Google Scholar 

  2. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Yokoi, H. Hirukawa, A realtime pattern generator for biped walking, in Proceedings of IEEE International Conference on Robotics and Automation, 2002, pp. 31–37

    Google Scholar 

  3. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, Biped walking pattern generation by using preview control of zero-moment point, in Proceedings of IEEE International Conference on Robotics and Automation, 2003, pp. 1620–1626

    Google Scholar 

  4. Y. Choi, D. Kim, B.J. You, On the walking control for humanoid robot based on the kinematic resolution of com jacobian with embedded motion, in Proceedings of IEEE International Conference on Robotics and Automation, 2006, pp. 2655–2660

    Google Scholar 

  5. J.W. Grizzle, E.R. Westervelt, C. Canudas-de Wit, Event-based PI control of an underactuated biped walker, in Proceedings of 42nd IEEE Conference on Decision and Control, 2003, pp. 3091–3096

    Google Scholar 

  6. K. Hirai, M. Hirose, Y. Haikawa, T. Takenaka, The development of Honda humanoid robot, in Proceedings of the IEEE International Conference on Robotics and Automation, 1998, pp. 1321–1326

    Google Scholar 

  7. S. Kajita, K. Yokoi, M. Saigo, K. Tanie, Balancing a humanoid robot using backdrive concerned torque control and direct angular momentum feedback, in Proceedings of the IEEE International Conference on Robotics and Automation, 2001, pp. 3376–3382

    Google Scholar 

  8. J.H. Kim, J.H. Oh, Walking control of the humanoid platform KHR-1 based on torque feedback control, in Proceedings of the IEEE International Conference on Robotics and Automation, 2004, pp. 623–628

    Google Scholar 

  9. S. Lohmeier, K. Loffler, M. Gienger, H. Ulbrich, F. Pfeiffer, Computer system and control of biped “Johnnie”, in Proceedings of the IEEE International Conference on Robotics and Automation, 2004, pp. 4222–4227

    Google Scholar 

  10. J.H. Park, Impedance control for biped robot locomotion. IEEE Trans. Robot. Autom. 17(6), 870–882 (2001)

    Google Scholar 

  11. A. Takanishi, H.o. Lim, M. Tsuda, I. Kato, Realization of dynamic biped walking stabilized by trunk motion on a sagittally uneven surface, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1990, pp. 323–330

    Google Scholar 

  12. E.R. Westervelt, J.W. Grizzle, D.E. Koditschek, Hybrid zero dynamics of planar biped walkers. IEEE Trans. Autom. Control 48(1), 42–56 (2003)

    Article  MathSciNet  Google Scholar 

  13. T. Nagasaki, S. Kajita, K. Yokoi, K. Kaneko, K. Tanie, Running pattern generation and its evaluation using a realistic humanoid model, in Proceedings of the IEEE International Conference on Robotics and Automation, 2003, pp. 1336–1342

    Google Scholar 

  14. K. Nagasaka, Y. Kuroki, S. Suzuki, Y. Itoh, J. Yamaguchi, Integrated motion control for walking, jumping and running on a small bipedal entertainment robot, in Proceedings of the IEEE International Conference on Robotics and Automation, 2004, pp. 3189–3194

    Google Scholar 

  15. Y. Choi, D. Kim, Y. Oh, B.J. You, Posture/walking control for humanoid robot based on kinematic resolution of CoM Jacobian with embedded motion. IEEE Trans. Robot. 23(6), 1285–1293 (2007)

    Article  Google Scholar 

  16. S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, H. Hirukawa, Resolved momentum control: humanoid motion planning based on the linear and angular momentum, in Proceedings of the IEEE International Conference on Robotics and Automation, 2003, pp. 1644–1650

    Google Scholar 

  17. L. Sentis, O. Khatib, Synthesis of whole-body behaviors through hierarchical control of behavioral primitives. Int. J. Humanoid Robot. 2(4), 505–518 (2005)

    Article  Google Scholar 

  18. A. Goswami, W. Kallem, Rate of change of angular momentum and balance maintenance of biped robots, in Proceedings of the IEEE International Conference on Robotics and Automation, 2004, pp. 3785–3790

    Google Scholar 

  19. K. Harada, S. Kajita, K. Kaneko, H. Hirukawa, ZMP analysis for arm/leg coordination, in Proceedings of the IEEE International Conference on Robotics and Automation (IEEE, 2003), pp. 75–81

    Google Scholar 

  20. T. Sugihara, Y. Nakamura, Whole-body cooperative balancing of humanoid robot using COG Jacobian, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, pp. 2575–2580

    Google Scholar 

  21. J. Pratt, J. Carff, S. Drakunov, A. Goswami, Capture point: a step toward humanoid push recovery, in Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2006, pp. 200–207

    Google Scholar 

  22. A.L. Hof, The ‘extrapolated center of mass’ concept suggests a simple control of balance in walking. Hum. Mov. Sci. 27(1), 112–125 (2008)

    Article  Google Scholar 

  23. J. Englsberger, C. Ott, M. Roa, A. Albu-Schäffer, G. Hirzinger, Others, Bipedal walking control based on capture point dynamics, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 4420–4427

    Google Scholar 

  24. Y. Choi, B.J. You, S.R. Oh, On the stability of indirect ZMP controller for biped robot systems, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004, pp. 1966–1971

    Google Scholar 

  25. Y. Choi, W.K. Chung, PID Trajectory Tracking Control for Mechanical Systems (Springer, Berlin/New York, 2004)

    Google Scholar 

  26. H.K. Khalil, Nonlinear Control (Pearson, Boston, 2015)

    Google Scholar 

  27. Balancing, https://www.youtube.com/watch?v=t-G9AoYD0vA/

  28. Pushing-recovery, https://www.youtube.com/watch?v=HMsMXR_1cdY/

  29. Pushing-recovery, https://www.youtube.com/watch?v=zO1uptT4g2I/

  30. Pushing-recovery, https://www.youtube.com/watch?v=8-iJfTICmT8/

  31. Dancing, https://www.youtube.com/watch?v=BTfXk_uipdc/

  32. Walking, https://www.youtube.com/watch?v=v2ckoiD6qXY/

Download references

Author information

Authors and Affiliations

  1. School of Electrical Engineering, Hanyang University, Ansan, South Korea

    Youngjin Choi

  2. Center for Robotics Research, Korea Institute of Science and Technology (KIST), Seoul, South Korea

    Yonghwan Oh

  3. Department of Mechanical Engineering, University of Nevada, Las Vegas, Nevada, USA

    Giho Jang

Authors
  1. Youngjin Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yonghwan Oh
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Giho Jang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Youngjin Choi .

Editor information

Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature B.V.

About this entry

Check for updates. Verify currency and authenticity via CrossMark

Cite this entry

Choi, Y., Oh, Y., Jang, G. (2019). Balancing via Position Control. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_70

Download citation

Publish with us

Policies and ethics

Search

Navigation