An Overview on Balancing and Stabilization Control of Biped Robots

Hayder Al-Shuka

ISBN 10: 3668550344 / ISBN 13: 9783668550346

Published by GRIN Verlag, 2017

About this Item

An Overview on Balancing and Stabilization Control of Biped Robots | Hayder Al-Shuka | Taschenbuch | 28 S. | Englisch | 2017 | GRIN Verlag | EAN 9783668550346 | Verantwortliche Person für die EU: GRIN Publishing GmbH, Waltherstr. 23, 80337 München, info[at]grin[dot]com | Anbieter: preigu Print on Demand.

Seller Inventory # 110062425

Bibliographic Details

• Title: An Overview on Balancing and Stabilization Control of Biped Robots
• Publisher: GRIN Verlag
• Publication Date: 2017
• Language: English
• ISBN 10: 3668550344
• ISBN 13: 9783668550346
• Binding: Taschenbuch
• Condition: Neu
• Dimensions: 210W x 148H x 3D millimeters 210 millimeters width by 148 millimeters height by 3 millimeters depth
• Weight: 56 grams
• Seller catalogs:
  • Bücher

About this title

Synopsis

Academic Paper from the year 2017 in the subject Engineering - Robotics, language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

About the Author

Dr.-Ing. Hayder Al-Shuka was born in Baghdad, Iraq, in 1979. He has obtained his Ph.D. at RWTH Aachen University, Department of Mechanism Theory, Machine Dynamics and Robotics (IGMR), Aachen, Germany in 2014. From 2006-present, he assigned as a lecturer at Baghdad University at the Department of Mechanical Engineering. From May 2017-Feb. 2019, he was a postdoctoral fellow at Shandong University, Jinan, China. Dr. Al-Shuka is concerned with walking patterns and control of biped robots, adaptive approximation control of robotic manipulators, exoskeletons, and prostheses.