Stabilizing control of humanoids' walking based on AHRS feedback
ZHANG Jiwen1,2,3, LIU Li1,2,3, CHEN Ken1,2,3
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. Beijing Key Laboratory of Precision/Ultra-precisionManufacturing Equipments and Control, Tsinghua University, Beijing 100084, China;
3. State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China
Abstract：An attitude and heading reference system (AHRS) feedback system was established using micro-electro-mechanical system (MEMS) sensors with low cost and the compensation algorithm described by the direction cosine matrix to realize the stabilizing control of humanoids' walking, being aimed to overcome the defect of incapability to compensate the large disturbance when using the zero moment point (ZMP) feedback control algorithm and the shortcoming of the current walking task interruption when using the reflex response control method. The walking stability criterion expressed by the linear composition of posture angles and angular velocities was also proposed, with a proportion-derivative controller for torso pose adjusting also implemented. Walking stabilization control was realized by the action style of tuning the next stride and walking frequency using the omni-directional walking gait planning method. Experimental results with a physical robot show that the robot can effectively avoid omni-directional walking task interruption and fall over even if disturbed by an impulse to reach the maximum inclination of 20° when marching on the spot and walking forward steadily.
张继文, 刘莉, 陈恳. 基于AHRS反馈的仿人机器人步行稳定控制[J]. 清华大学学报（自然科学版）, 2016, 56(8): 818-823.
ZHANG Jiwen, LIU Li, CHEN Ken. Stabilizing control of humanoids' walking based on AHRS feedback. Journal of Tsinghua University(Science and Technology), 2016, 56(8): 818-823.
[1] Gupta G S,Barlow P,David S.Review of sensors and sensor integration for the control of a humanoid robot[C]//IEEE Instrumentation and Measurement Technology Conference (I2MTC).Hangzhou,China:IEEE,2011:1-5.
[2] Mergner T,Schweigart G,Fennell L.Vestibular humanoid postural control[J].Journal of Physiology Paris,2009,103(3-5):178-194.
[3] Mergner T.A neurological view on reactive human stance control[J].Annual Reviews in Control,2010,34(2):177-198.
[4] Song S.Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots[D].Blacksburg,Virginia,USA:Virginia Polytechnic Institute and State University,2010.
[5] Renner R,Behnke S.Instability detection and fall avoidance for a humanoid using attitude sensorsand reflexes[C]//IEEEInternational Conference on Intelligent Robots and Systems.Beijing,China:IEEE,2006:2967-2973.
[6] Yi S J,Zhang B T,Hong D,et al.Learning full body push recovery control for small humanoid robots[C]//2011 IEEE International Conference on Robotics and Automation.Shanghai,China:IEEE,2011:2047-2052.
[7] Hohn O,Gerth W.Probabilistic balance monitoring for bipedal robots[J].International Journal of Robotics Research,2009,28(2):245-256.
[8] Radkhah K,Scholz D,Anjorin A,et al.Simple yet effective technology for robust real-time instability detection for humanoid robots using minimal sensor input[C]//The 13th International Conference on Climbing and Walking Robots (CLAWAR2010).Nagoya,Japan:World Scientific Publishing,2010:680-689.
[9] Missura M,Behnke S.Lateral capture steps for bipedal walking[C]//Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids).Bled,Slovenia:IEEE,2011:401-408.
[10] Ruiz-Del-Solar J,Moya J,Parra-Tsunekawa I.Fall detection and management in biped humanoid robots[C]//2010 IEEE International Conference on Robotics and Automation.Anchorage,Alaska,USA:IEEE,2010:3323-3328.
[11] Bachmann E R,McGhee R B,Yun X,et al.Inertial and magnetic posture tracking for inserting humans into networked virtual environments[C]//Proceedings of ACM Symposium on Virtual Reality Software and Technology.Banff,Alta,Canada:ACM,2001:9-16.
[12] Mahony R,Hamel T,Pflimlin J M.Nonlinear complementary filters on the special orthogonal group[J].IEEE Transactions on Automatic Control,2008,53(5):1203-1218.
[13] Gouaillier D,Collette C,Kilner C.Omni-directional closed-loop walk for NAO[C]//IEEE International Conference on Humanoid Robots (Humanoids).Nashville,TN,USA:IEEE,2010:448-454.
[14] Li C,Zhang J,Liu L.Team description paper for team TH-MOS[EB/OL].[2012-03-24].http://www.tzi.de/humanoid/bin/view/Website/Teams2012.
2016, Vol. 56 
