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Sensitivity of Legged Balance Control to Uncertainties and Sampling Period

Villa, Nahuel and Englsberger, Johannes and Wieber, Pierre-Brice (2019) Sensitivity of Legged Balance Control to Uncertainties and Sampling Period. IEEE Robotics and Automation Letters. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/lra.2019.2927944. ISSN 2377-3766.

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Abstract

We propose to quantify the effect of sensor and actuator uncertainties on the control of the center of mass and center of pressure in legged robots, since this is central for maintaining their balance with a limited support polygon. Our approach is based on robust control theory, considering uncertainties that can take any value between specified bounds. This provides a principled approach to deciding optimal feedback gains. Surprisingly, our main observation is that the sampling period can be as long as 200 ms with literally no impact on maximum tracking error and, as a result, on the guarantee that balance can be maintained safely. Our findings are validated in simulations and experiments with the torquecontrolled humanoid robot Toro developed at DLR. The proposed mathematical derivations and results apply nevertheless equally to biped and quadruped robots.

Item URL in elib:https://elib.dlr.de/134112/
Document Type:Article
Title:Sensitivity of Legged Balance Control to Uncertainties and Sampling Period
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Villa, NahuelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Englsberger, JohannesUNSPECIFIEDhttps://orcid.org/0000-0002-8117-2650UNSPECIFIED
Wieber, Pierre-BriceUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:2019
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/lra.2019.2927944
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Legged robots, Balance control, Robust control, Sampling period, Bounded input bounded output
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Walking Robotics/Locomotion [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Englsberger, Dr.-Ing. Johannes
Deposited On:28 Apr 2021 14:26
Last Modified:15 Jun 2023 08:51

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