The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2021
Session ID : 1A1-D02
Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 06, 2021 - June 08, 2021

Balance Control for Humanoid Robots by Tilting Torso
*Kaito NAKAMINAMI, Ryo KIKUUWE
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Keywords: Humanoid robots, Balance control, Posture control, Push recovery, Randing
CONFERENCE PROCEEDINGS RESTRICTED ACCESS

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Abstract

This paper proposes a balance control method for humanoid robots. Our method consists of CoG position control and torso angle control. In our method, the soles of the robot do not have to touch the ground. Simulation results show that proposed controller is effective for balance recovery after external force is applied and moreover the controller works well even if the robot is in the air.

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© 2021 The Japan Society of Mechanical Engineers
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