Standing posture modeling and control for a humanoid robot

Abstract

This paper presents a novel approach employing nonlinear control for stabilization of standing posture for a humanoid robot using only hip joint. The robot is modeled as an acrobot where model parameters are estimated through adaptive algorithm. A `non-collocated partial feedback' controller is applied. This is integrated with a linear feedback control, through LQR. Improved robustness to external push is demonstrated through evaluation in Webots simulator and on a physical humanoid robot, NUSBIP-III ASLAN. Performance comparison with other controllers verifies the effectiveness of the proposed control system.