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Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2013.6696951
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dc.titleStanding posture modeling and control for a humanoid robot
dc.contributor.authorAhmed, S.M.
dc.contributor.authorChew, C.M.
dc.contributor.authorTian, B.
dc.date.accessioned2014-10-07T09:15:38Z
dc.date.available2014-10-07T09:15:38Z
dc.date.issued2013
dc.identifier.citationAhmed, 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
dc.identifier.isbn9781467363587
dc.identifier.issn21530858
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/86081
dc.description.abstractThis 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/IROS.2013.6696951
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/IROS.2013.6696951
dc.description.sourcetitleIEEE International Conference on Intelligent Robots and Systems
dc.description.page4152-4157
dc.description.coden85RBA
dc.identifier.isiutNOT_IN_WOS
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