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Frontal Plane Balance Control of a Biped Robot Based on Human Balancing Strategy
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Hoviattalab, Maryam (Supervisor)
Abstract
The capability to control and maintain upright posture is a fundamental requirement for humanoid robots. Although many control algorithms were successfully presented, it seems developing a new controller inspired from human balance strategy would greatly improve performance and reduce energy consumption. To study the control strategy used by human nerves system more precisely, a balancing exercise was designed and implemented. Five human subjects were asked to stand on an unstable tilting board and balance the board. Instantaneous Eulerian angles of body segments of human subjects were captured by utilizing Xsense orientation sensors. A humanoid robot standing on the tilting board was...
A supervisory fuzzy-PID controller for a MIMO biped robot balance in frontal plane
, Article 2008 ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, MA, 31 October 2008 through 6 November 2008 ; Volume 2 , 2009 , Pages 307-314 ; 9780791848630 (ISBN) ; Haghshenas Jaryani, M ; Farahmand, F ; Sharif University of Technology
2009
Abstract
In this paper we propose to control a bipedal robot in an unstable position by means of a PID controller that gains are turned by a fuzzy logic system. For that, a model of planar 3 linked segment consisting of limb, trunk and extended arms with fixed base is used. Fuzzy if-then rules are constructed based on human expert knowledge and biomechanics studies for tuning of PID's gain. For construction of tuning rules, we have developed an optical measuring system to record experimental data of balance keeping of a human in an unstable position. The control model is based on three sets of different global variables: (1) limb orientation and its derivative, (2) trunk/upper attitude and its...