Design and implementation of balance control in a humanoid robot
Name
191699844-MIT.pdf
Description
Full printable version
Size
1.36 MB
Format
Adobe PDF
Checksum (MD5)
71db2fe4c55c3179455e06f342fc06d7
Author(s)
Englot, Brendan J
Advisor(s)
Steve G. Massaquoi.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
A proportional derivative control strategy was developed for the purpose of achieving balance in a humanoid robot. An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling a lightweight robot skeleton. Gains were modified as a function of joint angles to permit low gain near the equilibrium point, and consequently to promote a human-like swaying behavior that is energy-efficient. The control strategy was testing by placing a non-zero initial condition on the ankle joint angle and observing the robot, both physically and in simulation, attempt to achieve a stable swaying pattern. This was achieved successfully in a simulation of the robot's mass and inertial parameters, but further efforts must be made to obtain the same behavior in the robot. The ability of a robot to successfully balance using a human-like sway pattern adds another successful biomimetic feature to humanoid robot control and in addition should improve the efficiency of such systems.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 28).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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