Active Balance Control of Humanoid Locomotion Based on Foot Position Compensation  

作　　者：Chengju Liu Tong Zhang Ming Liu Qijun Chen 

机构地区：[1]School of Electronics and Information Engineering,Tongji University,Shanghai 201804,China [2]School of Electronic and Computer Engineering,Hong Kong University of Science and Technology,Hong Kong 999077,China

出　　处：《Journal of Bionic Engineering》2020年第1期134-147,共14页仿生工程学报（英文版）

基　　金：in part by the National Natural Science Foundation of China(Grant Nos:61673300 and U1713211);Basic Research Project of Shanghai Science and Technology Commission(Grant No.18DZ1200804)。

摘　　要：A foot positioning compensator is developed in this paper for a full-body humanoid to retrieve its balance during continuous walking.An online Foot Position Compensator(FPC)is designed to improve the robustness of biped walking,which can modify predefined step position and step duration online with sensory feedback.Foot placement parameters are learned by the FPC based on the Policy Gradient Reinforcement Learning(PGRL)method.Moreover,the FPC assists the humanoid robot in rejecting external disturbances and recovering the walking position by re-planning the trajectories of walking pattern and the Center of Mass(CoM).An upper body pose control strategy is also presented to further enhance the performance of humanoid robots to overcome strong external disturbances.The advantages of this proposed method are that it neither requires prior information about the walking terrain conditions,nor relies on range sensor information for surface topology measurement.The effectiveness of the proposed method is verified via Webots simulation and real experiments on a full-body humanoid NAO robot.

关 键 词：HUMANOID WALKING ACTIVE BALANCE FOOT Positioning Compensation(FPC) Policy Gradient REINFORCEMENT Learning(PGRL) 

分 类 号：Q811[生物学—生物工程]