The Open Automation and Control Systems Journal
2014, 6 : 1371-1377Published online 2014 December 31. DOI: 10.2174/1874444301406011371
Publisher ID: TOAUTOCJ-6-1371
Yaw Moment Compensation for Humanoid Robot via Arms Swinging
School of Computer Engineering,
University of Electronic Science and Technology of China
Zhongshan Institute, Zhongshan, Guangdong province, 528402, China.
ABSTRACT
This paper investigates the problems of the z-axis dynamic balance and high energy consumption in practical application of humanoid robot. Considering z-axis dynamic balance conditions, a novel yaw moment compensation solution based on arms-swinging is proposed by computing the optimal arms-swinging trajectories to counteract the yaw moment caused by the movement of humanoid robot. Given the optimized arms-swinging motion, an adaptive control system is proposed to track the desired trajectories with model uncertainties. From the Lyapunov stability analysis, the adaptation law is induced and the uniformly boundness of all signals in a closed-loop adaptive system is proved. Simulation results validate the proposed method.