Gait Controllers on Humanoid Robot Using Kalman Filter and PD Controller

摘要

Humanoid robot has a structure that can be shaped or moved like a human, but in order to walk like a human, it needs to be given the controller to correct the posture and gait on the robot. The PD controller is used to control the posture and gait of the humanoid robot and the Center of Mass (COM) is used as a feedback to keep the humanoid robot stable. Determination of the stability criteria is performed to determine the stable state of the humanoid robot. In this study, we used Bioloid GP in order to get a stable stand and walk on uneven surface conditions. IMU sensors are used to read COM angles and to increase the readability accuracy, while the Kalman filter method is used as an estimate of error and white noise filter. Furthermore, the controller will calculate the error between sensor readings and setpoints to obtain angle correction value for the servo motor in Bioloid GP. The PD controller successful to stabilize the robot in the single slope change in the standing area with the experimental result response of 0% of overshoot on the pitch axis and 0% of overshoot on the roll axis. The response has 2 second of rising time for the Pitch axis and 2.5 seconds for Roll axis.