Abstract
In the walking control of a biped humanoid robot, the walking performance is seriously affected by the initial home posture. An important thing is that the initial home posture of real robot is slightly different at every setting because a zero position of joint is not exactly the same. Accurate and consistent initial home posture is essential when we compare and analyze walking control algorithms. In general, the conventional method for electric motor uses an incremental encoder with a limit switch or an absolute encoder such as potentiometer to make a zero position. However, this method for the multi-axis humanoid robot is difficult, time-consuming, and inaccurate. Furthermore, it has the disadvantage that additional limit switch or absolute encoder can interfere with the design objective of compactness. This paper describes a novel adjustment method of home posture for a humanoid robot utilizing incremental encoders, an inertial sensor and force torque sensors. Four kinds of controllers are proposed and adjusted offsets are measured when outputs of the controllers are converged. The experimental results from KHR-2 show the effectiveness of the proposed algorithm.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
| Pages | 2223-2229 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2007 Dec 1 |
| Event | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
|---|
Other
| Other | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
|---|---|
| Country | United States |
| City | San Diego, CA |
| Period | 07/10/29 → 07/11/2 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
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Adjustment of home posture of a biped humanoid robot using an inertial sensor and force torque sensors. / Kim, Jung Hoon; Kim, Jung Yup; Oh, Jun Ho.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 2223-2229 4399380 (IEEE International Conference on Intelligent Robots and Systems).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Adjustment of home posture of a biped humanoid robot using an inertial sensor and force torque sensors
AU - Kim, Jung Hoon
AU - Kim, Jung Yup
AU - Oh, Jun Ho
PY - 2007/12/1
Y1 - 2007/12/1
N2 - In the walking control of a biped humanoid robot, the walking performance is seriously affected by the initial home posture. An important thing is that the initial home posture of real robot is slightly different at every setting because a zero position of joint is not exactly the same. Accurate and consistent initial home posture is essential when we compare and analyze walking control algorithms. In general, the conventional method for electric motor uses an incremental encoder with a limit switch or an absolute encoder such as potentiometer to make a zero position. However, this method for the multi-axis humanoid robot is difficult, time-consuming, and inaccurate. Furthermore, it has the disadvantage that additional limit switch or absolute encoder can interfere with the design objective of compactness. This paper describes a novel adjustment method of home posture for a humanoid robot utilizing incremental encoders, an inertial sensor and force torque sensors. Four kinds of controllers are proposed and adjusted offsets are measured when outputs of the controllers are converged. The experimental results from KHR-2 show the effectiveness of the proposed algorithm.
AB - In the walking control of a biped humanoid robot, the walking performance is seriously affected by the initial home posture. An important thing is that the initial home posture of real robot is slightly different at every setting because a zero position of joint is not exactly the same. Accurate and consistent initial home posture is essential when we compare and analyze walking control algorithms. In general, the conventional method for electric motor uses an incremental encoder with a limit switch or an absolute encoder such as potentiometer to make a zero position. However, this method for the multi-axis humanoid robot is difficult, time-consuming, and inaccurate. Furthermore, it has the disadvantage that additional limit switch or absolute encoder can interfere with the design objective of compactness. This paper describes a novel adjustment method of home posture for a humanoid robot utilizing incremental encoders, an inertial sensor and force torque sensors. Four kinds of controllers are proposed and adjusted offsets are measured when outputs of the controllers are converged. The experimental results from KHR-2 show the effectiveness of the proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=51349169089&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349169089&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399380
DO - 10.1109/IROS.2007.4399380
M3 - Conference contribution
AN - SCOPUS:51349169089
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2223
EP - 2229
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
ER -