7 accepted papers
This study proposes a biped-robot pelvis-kinematics estimator based on the touch-point updating method. Because the pelvis frame is used as the base coordinate for the control, the kinematics of it with respect to the global frame should be precisely estimated. To this end, it was necessary to know…
This work proposes a humanoid robot center of mass (COM) estimation framework based on the compliant inverted pendulum model and the robust estimator. Humanoids' limited structural stiffness and relatively long legs result in undesired flexibility, and this undesired motion hinders the state estimat…
Most state-of-the-art torque control-based legged robots show excellent performance, exceeding that of conventional position control-based robots. Many conventional position control-based legged robots have high gear ratios, but do not have joint torque sensors. In addition, some robots cannot gener…
In this paper, a current control scheme for the brushless DC (BLDC) motor is proposed. In order to estimate the phase current, it employs the adaptive extended Kalman filter (EKF) and measurement of a single DC link current. When estimating the motor phase current, measurement of a single DC link cu…
In this paper we introduce a biped foot placement controller based on capture point (CP) feedback control. This capture point feedback controller generates desired Zero Moment Point (ZMP) according to current capture point error. We call this desired ZMP as Control-ZMP (cZMP). Using this cZMP, we co…
The unified approach algorithm to control a mobile robot is useful in simplifying path planning and inverse kinematics by considering a mobile platform as hypothetical joints. Applying the damped least square method by using the Jacobian prevents the divergence of the joint angle. However, it is pos…
For robots, a flexible approach is very important. Even when the robot is a humanoid, it does not have to perfectly mimic human motion. If necessary, the humanoid robot can adapt to other technologies even when these technologies make it different from humans. In a real environment or a disaster env…