BALANCECONTROLOFHUMANOIDROBOT.PDFVIP

BALANCE CONTROL OF HUMANOID ROBOT FOR HUROSOT Bum-Joo Lee, Yong-Duk Kim and Jong-Hwan Kim Robot Intelligence Laboratory, KAIST, Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea {bjlee, ydkim, johkim}@rit.kaist.ac.kr Abstract: This paper presents balance control of humanoid robot for HuroSot using its upper body motion and swinging two arms. The upper body is modeled as an inverted pendulum for an on-line compensation. By using the upper body motion it compensates ZMP (Zero Moment Point) error, obtained by FSR (Force Sensitive Resistor) sensors attached on the sole of the foot. Also by swinging the arms it can cancel the yawing moment such that it can walk properly by keeping its overall balance. Experimental results of balance control of HSR-V, a small sized humanoid robot for HuroSot designed and developed in the RIT laboratory at KAIST, are described to demonstrate the e?ectiveness and applicability of the proposed method. Copyright °c 2005 IFAC Keywords: Balance Control, Humanoid Robot, HuroSot 1. INTRODUCTION approach is to generate a proper gait periodi- cally and determine the desired angles of every joint in on-line (Kajita et al., 2003)(Azevedo et A humanoid robot is a biped intelligent robot and al., 2002)(Reil and Husbands, 2002). Though it is expected to eventually evolve into one with is considered that it can react against a dynamic a human-like body. Recently, many researches