Stability Controller on the Atlas Robot Example

• Autorzy: Wasielica M.

Identyfikatory

DOI

10.14313/PAR_224/65

Warianty tytułu

PL

Kontroler równowagi na przykładzie robota Atlas

• Języki publikacji: EN

Abstrakty

EN

The paper presents the gait framework for a biped robot on the Atlas robot example. The method utilizes inverted pendulum model and static stability controller with correction from IMU sensor. A straight-forward balance control strategy based on ankle joints control is proposed. The controller which stabilizes the robot during execution of the planned path is described. To show the efficiency of the proposed method the results obtained in the Virtual Robotics Challenge environment (Gazebo) are provided.

PL

Artykuł przedstawia system generowania chodu dla robotów dwunożnych na przykładzie robota Atlas. Metoda wykorzystuje model odwróconego wahadła oraz statyczny kontroler stabilności wraz z korekcją z sensora IMU. Zaproponowano prostą metodę utrzymywania równowagi w oparciu o sterowanie ruchami stóp robota. Opisano też kontroler stabilizujący robota podczas pokonywania zaplanowanej ścieżki. Zweryfikowano działanie zaproponowanych metod na robocie Atlas w symulatorze Virtual Robotics Challenge (Gazebo).

Słowa kluczowe

EN

bipeds; humanoid robots; legged robots; motion planning

PL

robot dwunożny; robot humanoidalny; robot kroczący; planowanie ruchu

• Wydawca: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów PIAP
• Czasopismo: Pomiary Automatyka Robotyka
• Rocznik: 2017
• Tom: R. 21, nr 2
• Strony: 65--70
• Opis fizyczny: Bibliogr. 27 poz., fot., rys., wykr.

Twórcy

autor

Wasielica M.

• Poznań University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, Poland

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).