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Computer Science > Robotics

arXiv:1909.07732 (cs)
[Submitted on 17 Sep 2019 (v1), last revised 30 Mar 2020 (this version, v3)]

Title:Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Authors:Stéphane Caron (IDH)
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Abstract:The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP that is simple to implement, coincides with the state-of-the-art for small perturbations and is able to recover from larger perturbations thanks to this new strategy. This solution is based on "best-effort" pole placement of a 4D divergent component of motion for the VHIP under input feasibility and state viability constraints. We complement it with a suitable whole-body admittance control law and test the resulting stabilizer on the HRP-4 humanoid robot.
Subjects: Robotics (cs.RO)
Cite as: arXiv:1909.07732 [cs.RO]
  (or arXiv:1909.07732v3 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1909.07732

Submission history

From: Stephane Caron [view email] [via CCSD proxy]
[v1] Tue, 17 Sep 2019 11:49:22 UTC (1,150 KB)
[v2] Mon, 6 Jan 2020 08:53:23 UTC (1,198 KB)
[v3] Mon, 30 Mar 2020 07:31:34 UTC (1,196 KB)
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