عنوان مقاله English
نویسندگان English
In this paper a push recovery controller for balancing humanoid robot under severe pushes for situation that contact surface is small is presented. Human response to progressively increasing disturbances can be categorized into three strategies: ankle strategy, hip strategy and stepping strategy. The reaction of human to external disturbances in the situations that contact surface is small or stepping is not possible is generating upper body angular momentum. In this way in this paper, a single model predictive controller scheme is employed to controlling the capture point by modulating zero moment point and centroidal moment pivot. The proposed algorithm is capable of recovering balance of humanoid robot under severe pushes without stepping in situation that contact surface is shrunked to a strip. The goal of the proposed controller is to control the capture point, employing the centroidal moment pivot when the capture point is out of the support polygon, and/or the zero moment point when the capture point is inside the support polygon. The merit of proposed algorithm is shown successfully in different simulation scenarios using characteristic of SURENA III humanoid robot.
کلیدواژهها English
