An Overview on Balancing and Stabilization Control of Biped Robots - Al-Shuka, Hayder
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Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and…mehr

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Produktbeschreibung
Academic Paper from the year 2017 in the subject Engineering - Robotics, , language: English, abstract: Researchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centered environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.
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Autorenporträt
Dr.-Ing. Hayder Al-Shuka was born in 1979 in Baghdad, Iraq. He received his PhD in 2014 from RWTH Aachen University's Department of Mechanism Theory, Machine Dynamics, and Robotics (IGMR), Germany. From 2006 to 2017, he was a lecturer at Baghdad University's Department of Mechanical Engineering, Iraq. He was a postdoctoral fellow at Shandong University in Jinan, China, from 2017 to 2019. He has been an assistant professor at Baghdad University's Department of Aeronautical Engineering since 2020. Dr. Al-Shuka's research interests include biped robot walking patterns and control, as well as adaptive approximation control of robotic manipulators, exoskeletons, and prostheses.