AutoBalancer
AutoBalancer: an online dynamic balance compensation scheme for humanoid robots. Algorithms for maintaining dynamic stability are central to legged robot control. Recent advances in computing hardware have enabled increasingly sophisticated physically based simulation techniques to be utilized for the offline generation of dynamically-stable motions for complex robots, such as humanoid robots. However, in order to design humanoid robots that are reactive and robust, a low-level online balancing scheme is required. This paper presents an online algorithm for automatically generating dynamically stable compensation motions for humanoid robots. Given an input motion trajectory, the ”AutoBalancer” software reactively generates a modified dynamically-stable motion for a standing humanoid robot. The system consists of two parts: A planner for state transitions derived from contacts between the robot and the ground, and a dynamic balance compensator which formulates and solves the balance problem as a constrained, second order nonlinear programming optimization problem. The balance compensator can be made to compensate for deviations in the centroid position and tri-axial moments of any standing motion for a humanoid robot, using all joints of the body in real-time. The complexity of the Auto-Balancer algorithm is O((p + c) 3), where p is number of DOFs and c is the number of constraint equations.
(Source: http://dl.acm.org/)
Keywords for this software
References in zbMATH (referenced in 5 articles , 1 standard article )
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Sorted by year (- Harada, Kensuke (ed.); Yoshida, Eiichi (ed.); Yokoi, Kazuhito (ed.): Motion planning for humanoid robots (2010)
- Kagami, Satoshi; Kitagawa, Tomonobu; Nishiwaki, Koichi; Sugihara, Tomomichi; Inaba, Masayuki; Inoue, Hirochika: A fast dynamically equilibrated walking trajectory generation method of humanoid robot (2002)
- Kuffner, James J. jun.; Kagami, Satoshi; Nishiwaki, Koichi; Inaba, Masayuki; Inoue, Hirochika: Dynamically-stable motion planning for humanoid robots (2002)
- Donald, Bruce Randall (ed.); Lynch, Kevin M. (ed.); Rus, Daniela (ed.): Algorithmic and computational robotics: new directions. The 4th workshop on the algorithmic foundations of robotics, WAFR 2000, Dartmouth College, Dartmouth, MA, USA, March 16--18, 2000 (2000)
- Kagami, Satoshi; Kanehiro, Fumio; Tamiya, Yukiharu; Inaba, Masayuki; Inoue, Hirochika: AutoBalancer: an online dynamic balance compensation scheme for humanoid robots. (2000)