Balance control of a humanoid robot using the inclinometer

Abstract

In this paper, the inclinometer is used to control the balance of a humanoid robot on a miniature surfboard. GHR (Griffith University Humanoid Robot) is the humanoid robot developed in the Robotics and Games laboratory, at Griffith University. In order to measure the angle of the inclining surfboard, the inclinometer is attached to the back of the right foot of the GHR. To remove the high frequency data, LPF (Low Pass Filter) is adopted. Using the angle information of the inclinometer, GHR makes the proper motion on the moving surfboard.