Standing Balance Control of a Bipedal Robot Based on Behavior Cloning
-
Published:2022-12-09
Issue:4
Volume:7
Page:232
-
ISSN:2313-7673
-
Container-title:Biomimetics
-
language:en
-
Short-container-title:Biomimetics
Author:
Bong Jae Hwan,Jung Suhun,Kim Junhwi,Park Shinsuk
Abstract
Bipedal robots have gained increasing attention for their human-like mobility which allows them to work in various human-scale environments. However, their inherent instability makes it difficult to control their balance while they are physically interacting with the environment. This study proposes a novel balance controller for bipedal robots based on a behavior cloning model as one of the machine learning techniques. The behavior cloning model employs two deep neural networks (DNNs) trained on human-operated balancing data, so that the trained model can predict the desired wrench required to maintain the balance of the bipedal robot. Based on the prediction of the desired wrench, the joint torques for both legs are calculated using robot dynamics. The performance of the developed balance controller was validated with a bipedal lower-body robotic system through simulation and experimental tests by providing random perturbations in the frontal plane. The developed balance controller demonstrated superior performance with respect to resistance to balance loss compared to the conventional balance control method, while generating a smoother balancing movement for the robot.
Funder
National Research Foundation of Korea (NRF) Grant funded by the Korean Government
Subject
Molecular Medicine,Biomedical Engineering,Biochemistry,Biomaterials,Bioengineering,Biotechnology
Reference47 articles.
1. Disaster response and recovery from the perspective of robotics;Park;Int. J. Precis. Eng. Manuf.,2017 2. Luo, R.C., and Lin, S.J. (2015, January 9–12). Impedance and force compliant control for bipedal robot walking on uneven terrain. Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Hong Kong, China. 3. Morisawa, M., Kajita, S., Kanehiro, F., Kaneko, K., Miura, K., and Yokoi, K. (December, January 29). Balance control based on capture point error compensation for biped walking on uneven terrain. Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan. 4. Sugihara, T., and Nakamura, Y. (October, January 30). Whole-body cooperative balancing of humanoid robot using COG Jacobian. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland. 5. Kajita, S., Morisawa, M., Miura, K., Nakaoka, S., Harada, K., Kaneko, K., Kanehiro, F., and Yokoi, K. (2010, January 18–22). Biped walking stabilization based on linear inverted pendulum tracking. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
|
|