Stability Controller on the Atlas Robot Example

eng Artykuł w języku Angielskim DOI: 10.14313/PAR_224/65

wyślij Mikołaj Wasielica Politechnika Poznańska, Instytut Automatyki i Inżynierii Informatycznej

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Abstract

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.

Keywords

biped robot, humanoid robot, legged robot, motion planning

Kontroler równowagi na przykładzie robota Atlas

Streszczenie

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

planowanie ruchu, robot dwunożny, robot humanoidalny, robot kroczący

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