Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model
Abstract
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations 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 a 4D divergent component of motion for the VHIP under input feasibility and state viability constraints. We complement it with a suitable whole-body admittance control law and test the resulting stabilizer on the HRP-4 humanoid robot.
- Publication:
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arXiv e-prints
- Pub Date:
- September 2019
- DOI:
- 10.48550/arXiv.1909.07732
- arXiv:
- arXiv:1909.07732
- Bibcode:
- 2019arXiv190907732C
- Keywords:
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- Computer Science - Robotics