Dynamic lateral balance of humanoid robots on unstable surfaces

摘要

This work presents a control algorithm to achieve dynamic lateral balance in humanoid robots on unstable and geodynamic surfaces such as a seesaw or a suspension bridge. The proposed method generates a stable pose at any given point using the feedback from an Inertial Measurement Unit (IMU) in realtime which enables the robot to balance on dynamic surfaces. The algorithm provides a robust control of the Center of Gravity (CoG) of the robot and constricts the CoG from moving away from the most stable pose of the robot in the double support mode thus achieving stability at any given point in time. The method implemented is relatively less heavy in the terms of computation and easy to implement. The proposed system works on any humanoid platform irrespective of size and weight, given the robot has the required degrees of freedom needed to achieve balance.