Ahmed, S.M.Chew, C.M.Tian, B.MECHANICAL ENGINEERING2014-10-072014-10-072013Ahmed, 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.2013.6696951978146736358721530858https://scholarbank.nus.edu.sg/handle/10635/86081This 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.Conference PaperNOT_IN_WOS