Ballwalker

Project Members

Yu Zheng (Disney Research Pittsburgh)
Katsu Yamane (Disney Research Pittsburgh)

This project investigates the optimization of, and presents a control framework for, a biped robot to maintain balance and walk on a rolling ball. We design a balance controller for a simplified linear model of a biped robot, which comprises a foot connected to a lump mass through an ankle joint and a translational spring and damper. We also derive a collision model for the system consisting of the cylinder, supporting leg, and swing leg. The control framework consists of two primary components: a balance controller and a footstep planner.

 

Publications

Universal Balancing Controller for Robust Lateral Stabilization of Bipedal Robots in Dynamic, Unstable Environments-Thumbnail

Universal Balancing Controller for Robust Lateral Stabilization of Bipedal Robots in Dynamic, Unstable Environments
May 31, 2014
IEEE International Conference on Robotics and Automation (ICRA) 2014
Paper File [pdf, 1.02 MB]

Balancing in Dynamic, Unstable Environments without Direct Feedback of Environment Information-Thumbnail

Balancing in Dynamic, Unstable Environments without Direct Feedback of Environment Information
May 31, 2014
IEEE Transactions on Robotics 2014
Paper File [pdf, 522.31 KB]

Optimization and Control of Cyclic Biped Locomotion on a Rolling Ball-Thumbnail

Optimization and Control of Cyclic Biped Locomotion on a Rolling Ball
October 26, 2011
IEEE Humanoids 2011
Paper File [pdf, 2.22 MB]

optimization-and-control-of-cyclic-biped-locomotion-on-a-rolling-cylinder-thumbnail

Optimization and Control of Cyclic Biped Locomotion on a Rolling Cylinder
July 1, 2011
Proceedings of IEEE-RASInternational Conference on Humanoids Robots, 2011
Paper File [pdf, 1.08 MB]

Ball Walker- A Case Study of Humanoid Robot Locomotion in Non-stationary Environments-Thumbnail

Ball Walker: A Case Study of Humanoid Robot Locomotion in Non-stationary Environments
May 9, 2011
IEEE International Conference on Robotics and Automation (ICRA) 2011
Paper File [pdf, 1.08 MB]

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