Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Stéphane Caron. Submitted September 2019.

Abstract

The variable-height inverted pendulum (VHIP) model enables a new balancing strategy, based on vertical motions of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP that is simple to implement, coincides with the state-of-the-art for small perturbations and is able to recover from larger perturbations thanks to this new strategy. This solution is based on "best-effort" pole placement of the 4D divergent component of motion of the VHIP under input feasibility and state viability constraints. We complement it with a suitable whole-body admittance control law and test the stabilizer on the HRP-4 humanoid robot.

Video

Content

pdf Paper
pdf Presentation given at JRL on 29 October 2019

BibTeX

@unpublished{caron2019vhip,
  title = {Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model},
  author = {Caron, St{\'e}phane},
  note = {submitted},
  url = {https://hal.archives-ouvertes.fr/hal-02289919},
  year = {2019},
  month = sep,
}

Discussion

See the discussion we had following a presentation of this work at JRL.

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