Human-inspired balance control of a humanoid on a rotating board

Erik Chumacero, James Yang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

We present a stability analysis of the upright stance of a model of a humanoid robot balancing on a rotating board and driven by a human-inspired control strategy. The humanoid-board system is modeled as a triple inverted pendulum actuated by torques at the board’s hinge, ankle joint, and hip joint. The ankle and hip torques consider proprioceptive and vestibular angular information and are affected by time delays. The stability regions in different parameter’ spaces are bounded by pitchfork and Hopf’s bifurcations. It is shown that increasing time delays do not affect the pitchfork but they shrink the Hopf bifurcations. Moreover, the human-inspired control strategy is able to control the upright stance of a humanoid robot in the presence of time delays. However, more theoretical and experimental studies are necessary to validate the present results.

Original languageEnglish
Title of host publicationAdvances in Human Factors in Robots and Unmanned Systems - Proceedings of the AHFE 2018 International Conference on Human Factors in Robots and Unmanned Systems, 2018
EditorsJessie Chen
PublisherSpringer-Verlag
Pages115-126
Number of pages12
ISBN (Print)9783319943459
DOIs
StatePublished - 2019
EventAHFE International Conference on Human Factors in Robots and Unmanned Systems, 2018 - Orlando, United States
Duration: Jul 21 2018Jul 25 2018

Publication series

NameAdvances in Intelligent Systems and Computing
Volume784
ISSN (Print)2194-5357

Conference

ConferenceAHFE International Conference on Human Factors in Robots and Unmanned Systems, 2018
Country/TerritoryUnited States
CityOrlando
Period07/21/1807/25/18

Keywords

  • DDE-BIFTOOL
  • Delay differential equation
  • Humanoid robot
  • Stability analysis
  • Upright stance

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