A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers

Emmanouil Spyrakos Papastavridis; Gustavo Medrano-Cerda; Nikos G. Tsagarakis; Jian Dai; Darwin G. Caldwell

doi:10.1109/ICMECH.2013.6518581

A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers

Emmanouil Spyrakos Papastavridis, Gustavo Medrano-Cerda, Nikos G. Tsagarakis, Jian Dai, Darwin G. Caldwell

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

5 Citations (Scopus)

Abstract

This paper presents a control scheme that is directed towards the performance of push recovery on the compliant humanoid robot, COMAN. The novelty offered by this work is related to the use of a decentralized controller based on an initial Limited Quadratic Regulator (LQR) design on a humanoid robot in addition to the regulation of the actual joint positions instead of the motor positions. Moreover, the ankle-knee strategy is examined through the use of a compliant double inverted pendulum model. A key feature of the propounded approach lies in the controller's ability to regulate the system's inherently compliant dynamics through considering not only the motor-related variables but also those of the link-side, appearing after the passive compliant element. Consequently, this leads to a control method that is capable of stabilizing the robot by means of increasing the damping on the link, which is essential given the system's oscillatory behaviour once it has been perturbed.

Original language	English
Title of host publication	2013 IEEE International Conference on Mechatronics, ICM 2013
Pages	464-470
Number of pages	7
DOIs	https://doi.org/10.1109/ICMECH.2013.6518581
Publication status	Published - 23 May 2013
Event	2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy Duration: 27 Feb 2013 → 1 Mar 2013

Conference

Conference	2013 IEEE International Conference on Mechatronics, ICM 2013
Country/Territory	Italy
City	Vicenza
Period	27/02/2013 → 1/03/2013

Keywords

Humanoid
optimal control
passive compliance

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10.1109/ICMECH.2013.6518581

Cite this

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Spyrakos Papastavridis, E, Medrano-Cerda, G, Tsagarakis, NG, Dai, J & Caldwell, DG 2013, A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6518581, pp. 464-470, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 27/02/2013. https://doi.org/10.1109/ICMECH.2013.6518581

A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers. / Spyrakos Papastavridis, Emmanouil; Medrano-Cerda, Gustavo; Tsagarakis, Nikos G. et al.
2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 464-470 6518581.

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

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A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers

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