Disturbance Rejection for Biped Humanoids

— This paper proposes a simple passivity-based disturbance rejection scheme for force-controllable biped humanoids. The disturbance rejection by force control is useful not only for self-balance, but also for stable and safety physical interaction between human and humanoid robots. The core technique is passivity-based contact force control with gravitycompensation. This makes it easy to control the contact forces in a satisfactory dynamic range without canceling all non-linear terms. The disturbance rejection is located at the higher layer above the contact force controller. It is composed of three subcontrollers; 1) a balancing controller; 2) a stepping controller; and 3) the trigger. Numerical simulations and experiments evaluate the effectiveness of the proposed controller. Although the method is incomplete in the sense that the self-collision between the limbs is ignored, a preliminary experimental result on a real humanoid platform demonstrates that the proposed method can actu...

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Sang-Ho Hyon, Gordon Cheng
• Keywords: Contact Force, Disturbance Rejection, Disturbance Rejection Scheme, ICRA 2007, Robotics