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- W4387652961 abstract "In this paper, we study the comprehensive application of compliant control in position-based humanoid robot. In order to enhance the external disturbance resistance and terrain adaptability of humanoid robot, we propose three compliant controller which apply to the control system. Firstly, we propose the body compliant controller based on linear inverted pendulum and spring-damping model (LIP-SDM) which can achieve the compliant response of the body. Secondly, we design an compliant controller based on single-link spring-damping model, which can achieve compliant response when the swing leg collides with an obstacle. Finally, an compliant controller of ankle joint is proposed which is based on the compliant inverted pendulum (CIP) model for terrain adaptation. The application of three compliant controllers effectively enhances the adaptability of humanoid robots to external disturbances and uneven terrain. The proposed methods are implemented on our humanoid robot, UBTECH Walker, and its performance are demonstrated through improved stability and adaptability during standing and walking." @default.
- W4387652961 created "2023-10-16" @default.
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- W4387652961 date "2023-01-01" @default.
- W4387652961 modified "2023-10-16" @default.
- W4387652961 title "Application of Compliant Control in Position-Based Humanoid Robot" @default.
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- W4387652961 doi "https://doi.org/10.1007/978-981-99-6492-5_29" @default.
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