Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
Year: 2019
Type: preprint
Abstract: The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP that is simple to implement, coincides with the state-of-the-art for small perturbations and is able to recover from larger perturbations thanks to this new strategy. This solution is based on "best-effort" pole placement of a 4D divergent component of motion for the VHIP under input feasibility and state viability constraints. We complement it with a suitable whole-body admittance control law and test the resulting stabilizer on the HRP-4 humanoid robot.
Author: Caron, Stéphane
Institution: Instituto de Humanidades
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4287823385