Active balance of humanoids with foot positioning compensation and non-parametric adaptation

作者：Liu, Chengju; Xu, Tao; Wang, Danwei; Chen, Qijun^*

来源：Robotics and Autonomous Systems, 2016, 75: 297-309.

DOI：10.1016/j.robot.2015.09.016

• Humanoid walking
• Active balance
• Foot positioning compensation
• Gaussian process

To maintain human-like active balance for a humanoid robot, this paper proposes a novel adaptive non-parametric foot positioning compensation approach that can modify predefined step position and step duration online with sensor feedback. A constrained inverted pendulum model taking into account of supporting area to CoM acceleration is used to generate offline training samples with constrained nonlinear optimization programming. To speed up real-time computation and make online model adjustable, a non-parametric regression model based on extended Gaussian Process model is applied for online foot positioning compensation. In addition, a real-time and sample-efficient local adaptation algorithm is proposed for the non-parametric model to enable online adaptation of foot positioning compensation on a humanoid system. Simulation and experiments on a full-body humanoid robot validate the effectiveness of the proposed method.

• 出版日期2016-1
• 单位同济大学; 南阳理工学院