- CYBERNETICS AND SYSTEMS Journal
- January 2018
Digital Object Identifier (DOI)
International Standard Serial Number (ISSN)
Electronic International Standard Serial Number (EISSN)
- One of the most important and complex tasks for a humanoid robot is to avoid overturning during a bipedal gait. This work aims at setting the base for designing a general balance controller to be used with any humanoid robot. In addition, it is based on a strong simplification of humanoid model which attempts to be used in real-time applications. In particular, several "stability zones" are defined as function of the criticalness of balance. The results are presented in simulation and experimentally, using the humanoid platforms HOAP-3 and TEO.
- humanoid robot; double inverted pendulum; balance controller; stability zones