Model-Free Active Balancing for Humanoid Robots

Abstract

To be practical, humanoid robots must be able to manoeuvre over a variety of flat and uneven terrains, at different speeds and with varying gaits and motions. This paper describes three balancingreflex algorithms (threshold control, PID control, and hybrid control) that were implemented on a real 8 DOF small humanoid robot equipped with a two-axis… (More)
DOI: 10.1007/978-3-642-02921-9_47

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Cite this paper

@inproceedings{McGrath2008ModelFreeAB, title={Model-Free Active Balancing for Humanoid Robots}, author={Sara McGrath and John Anderson and Jacky Baltes}, booktitle={RoboCup}, year={2008} }