TY - JOUR
T1 - Dynamic balance control for biped robot walking using sensor fusion, Kalman filter, and fuzzy logic
AU - Li, Tzuu Hseng S.
AU - Su, Yu Te
AU - Liu, Shao Hsien
AU - Hu, Jhen Jia
AU - Chen, Ching Chang
N1 - Funding Information:
Manuscript received December 18, 2010; revised April 1, 2011 and August 5, 2011; accepted October 19, 2011. Date of publication November 11, 2011; date of current version June 19, 2012. This work was supported by the National Science Council of the Republic of China under Grants NSC 95-2221-E-006-382-MY3 and NSC97-2221-E-006-172-MY3.
PY - 2012/11
Y1 - 2012/11
N2 - The walking ability is a fundamental research for biped robots, and there always needs to be a criterion used for judging the walking stability. The zero moment point (ZMP) criterion is one of the useful standards for measuring biped robot walking. Here, a new ZMP trajectory model with adjustable parameters is proposed to modulate the ZMP trajectory both in sagittal and lateral planes and make the ZMP trajectory more flexible. A dynamic balance control (DBC), which includes Kalman filter (KF) and the fuzzy motion controller (FMC), is also designed to keep the body balance and make the biped walking following the desired ZMP reference. In addition, KF is utilized to estimate the system states and reduce the effect caused by noise. Using sensor fusion technique, ZMP error and trunk inclination measured by the force sensor and accelerometer are served as the inputs for FMC, which is presented to correct each joint of the biped robot dynamically. When a biped robot walks under different ground conditions, the coordination of the designed ZMP trajectory and proposed DBC can achieve a successful biped walking. Finally, there are several experiments presented to demonstrate the feasibility and effectiveness of the proposed control scheme.
AB - The walking ability is a fundamental research for biped robots, and there always needs to be a criterion used for judging the walking stability. The zero moment point (ZMP) criterion is one of the useful standards for measuring biped robot walking. Here, a new ZMP trajectory model with adjustable parameters is proposed to modulate the ZMP trajectory both in sagittal and lateral planes and make the ZMP trajectory more flexible. A dynamic balance control (DBC), which includes Kalman filter (KF) and the fuzzy motion controller (FMC), is also designed to keep the body balance and make the biped walking following the desired ZMP reference. In addition, KF is utilized to estimate the system states and reduce the effect caused by noise. Using sensor fusion technique, ZMP error and trunk inclination measured by the force sensor and accelerometer are served as the inputs for FMC, which is presented to correct each joint of the biped robot dynamically. When a biped robot walks under different ground conditions, the coordination of the designed ZMP trajectory and proposed DBC can achieve a successful biped walking. Finally, there are several experiments presented to demonstrate the feasibility and effectiveness of the proposed control scheme.
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U2 - 10.1109/TIE.2011.2175671
DO - 10.1109/TIE.2011.2175671
M3 - Article
AN - SCOPUS:84863003366
SN - 0278-0046
VL - 59
SP - 4394
EP - 4408
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 11
M1 - 6078426
ER -