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|Title:||Standing posture modeling and control for a humanoid robot||Authors:||Ahmed, S.M.
|Issue Date:||2013||Citation:||Ahmed, S.M.,Chew, C.M.,Tian, B. (2013). Standing posture modeling and control for a humanoid robot. IEEE International Conference on Intelligent Robots and Systems : 4152-4157. ScholarBank@NUS Repository. https://doi.org/10.1109/IROS.2013.6696951||Abstract:||This paper presents a novel approach employing nonlinear control for stabilization of standing posture for a humanoid robot using only hip joint. The robot is modeled as an acrobot where model parameters are estimated through adaptive algorithm. A 'non-collocated partial feedback' controller is applied. This is integrated with a linear feedback control, through LQR. Improved robustness to external push is demonstrated through evaluation in Webots simulator and on a physical humanoid robot, NUSBIP-III ASLAN. Performance comparison with other controllers verifies the effectiveness of the proposed control system. © 2013 IEEE.||Source Title:||IEEE International Conference on Intelligent Robots and Systems||URI:||http://scholarbank.nus.edu.sg/handle/10635/86081||ISBN:||9781467363587||ISSN:||21530858||DOI:||10.1109/IROS.2013.6696951|
|Appears in Collections:||Staff Publications|
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