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Dynamic balance optimization in biped robots: Physical modeling, implementation and tests using an innovative formula

Published online by Cambridge University Press:  22 May 2014

G. G. Muscolo ,
C. T. Recchiuto  and
R. Molfino
G. G. Muscolo*
Affiliation:
Creative and Visionary Design Laboratory, Humanot s.r.l., Via Amedeo Modigliani, 7, 59100, Prato, Italy PMAR Lab., DIME-MEC, Scuola Politecnica, University of Genova, Via all'Opera Pia, 15, Genova, Italy
C. T. Recchiuto
Affiliation:
Electro-Informatic Laboratory, Humanot s.r.l., Via Amedeo Modigliani, 7, 59100, Prato, Italy
R. Molfino
Affiliation:
PMAR Lab., DIME-MEC, Scuola Politecnica, University of Genova, Via all'Opera Pia, 15, Genova, Italy
*
*Corresponding author. E-mail: g.muscolo@humanot.it; muscolo@dimec.unige.it
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Summary

In this paper, an analytical formula for the determination of the center of mass position in humanoid platforms is proposed and tested in a real humanoid robot. The formula uses the force-torque values obtained by the two force-torque sensors applied on the feet of the robot and the measured currents required from the motors to maintain balance as inputs. The proposed formula outputs the real center of mass position that minimizes the errors between real humanoid robots and virtual models. Data related to the Zero Moment Point positions and to the joint movements are compared with the target values, showing how the application of the proposed formula enables achieving better repeatability and predictability of the static and dynamic robot behaviour.

Keywords

CoMPosture controlHumanoid robotsLocomotionZMPMass error
Type
Articles
Information
Robotica , Volume 33 , Issue 10 , December 2015 , pp. 2083 - 2099
Copyright
Copyright © Cambridge University Press 2014 

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