| Balance control plays a significant role of handling
disturbances for biped robots especially in the case of walking
on uneven terrains. In this paper, we propose a new technique
to achieve robust walking on uneven terrains which are not
modeled in advance based on the readings of the inertial
sensors installed on the robot. It integrates three balance
controllers functioning in different cases. The first one is
feedback control to the gait pattern generator that is able to
resist to a disturbance as long as the support polygon allows.
The second one is ankle joints control preventing the robot
from tilting. The last one can resist large disturbances in the
way of generating a recovery moment by lowering down the
Center of Gravity (CoG). The planned footstep trajectory are
strictly followed without employing additional steps. So it has a
great advantage of walking on uneven terrains. The proposed
methods are demonstrated on a real robot named Nao which
has been widely used in RoboCup..
|
News