Exploiting angular momentum to enhance bipedal center-of-mass control
Name
Hofmann-2009-Exploiting angular momentum to enhance bipedal center-of-mass control.pdf
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1.23 MB
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Adobe PDF
Checksum (MD5)
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Author(s)
Herr, Hugh M.
Hofmann, Andreas
Popovic, Marko
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Hofmann, A., M. Popovic, and H. Herr. “Exploiting angular momentum to enhance bipedal center-of-mass control.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 4423-4429. ©2009 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks, such as normal walking, such controllers minimize fluctuations in angular momentum about the center of mass (CM). This minimization is consistent with observed behavior of humans for such tasks. However, there are cases where such minimization is not desirable. In this study, we investigate movement tasks where bipedal balance control requires a relaxation of the goal of minimizing whole-body angular moment. We construct a humanoid model having a human-like mass distribution, and a Moment-Exploiting Control algorithm that modulates whole-body angular momentum to enhance CM control. The model only requires reference trajectories for CM position and torso orientation. Joint reference trajectories are not required. While balancing on one leg, we show that the controller is capable of correcting errors in CM state by sacrificing angular postural goals for the swing leg, trunk and head. This prioritization capability provides robustness to significant disturbances, without the need to plan new reference trajectories. We compare the dynamic behavior of our humanoid model to that of human test participants. While standing on one leg, the model, like the human, is shown to reposition its CM just above the stance foot from an initial body state where CM velocity is zero, and the ground CM projection falls outside the foot envelope.
MIT Department
Harvard University--MIT Division of Health Sciences and Technology
Massachusetts Institute of Technology. Media Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152573
