@inproceedings{fc04cb73dc1448d79c01865fc9f20c9f,
title = "Online gain switching algorithm for joint position control of a hydraulic humanoid robot",
abstract = "This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of a slower actuator time constant and the back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) using linear interpolation. The performance of the algorithm is evaluated with a dynamic simulation of a hydraulic humanoid.",
keywords = "Gain switching, Hydraulic humanoid, Joint position control",
author = "Kim, \{Jung Yup\} and Atkeson, \{Christopher G.\} and Hodgins, \{Jessica K.\} and Bentivegna, \{Darrin C.\} and Cho, \{Sung Ju\}",
year = "2007",
doi = "10.1109/ICHR.2007.4813843",
language = "English",
isbn = "9781424418626",
series = "Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007",
publisher = "IEEE Computer Society",
pages = "13--18",
booktitle = "Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007",
note = "2007 7th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS 2007 ; Conference date: 29-11-2007 Through 01-12-2007",
}