Development of control algorithms for a humanoid robot

• Autor(a) principal: Ruas, Milton
• Data de Publicação: 2007
• Outros Autores: Silva, Filipe M. T., Santos, Vítor M. F.
• Tipo de documento: Artigo
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: https://proa.ua.pt/index.php/revdeti/article/view/17091

This paper describes the work developed in a final course project, aiming at the development of control algorithms for a small-size humanoid robot using off-theshelf technologies. The main focus is placed on the implementation of low-level control strategies for both locomotion and balancing tasks. The main features of this implementation are the distributed control approach and the relevance given to the sensorial information. Some practical issues on servomotor control are given since that turned out necessary before entering higher levels of control. Particular attention is given to the low-level control of RC servomotors and the enhanced performance achieved by software compensation. The distributed set of controller units is the key element towards a control system that compensates for large changes in reflected inertia and providing position and velocity control. Furthermore, an intermediate local-level controller is implemented based on force sensing, providing robust and adaptive behaviour to changes in a slope surface.