Disturbance compensation of standing humanoid robot - Simulation

Conference Paper

B. Borovac; M. Nikolić; M. Raković

15th International Scientific Conference on Industrial Systems - IS'11, Novi Sad, Serbia, Sept. 14, 2011-Sept. 16, 2011

2011

pp. 90-95

Abstract

It is expected that the humanoid robots of the near future will 'live' and work in a common environment with humans, which imposes the requirement that their operative efficiency ought to be close to that of men. The main prerequisite to achieve this is to ensure the robot's ability to compensate for the ever-present disturbances. Disturbances may be very different, both in respect of the type and the effect on the locomotion system. In our previous works we have discussed different strategies for compensating disturbances, which are occurring while robot is standing still in upright position. The aim of this paper is to prove viability of previously described strategies. This paper presents the simulation results which were used to verify com-pensational strategies.