@inproceedings{9b1749d4a4ef41288849918d181b316d,
title = "Balancing control of a biped robot",
abstract = "We propose a balancing control framework for a torque-controlled biped robot, Roboray. Roboray has two 6 DOF legs and torque sensors are integrated at all the leg joints. It has a new cable-driven joint module as a pitch joint drive, which is highly back-drivable and elastic. Using these hardware characteristics, we propose a new balancing control algorithm. This algorithm is the combination of gravity compensation, virtual gravity control and damping control. A friction compensation technique is also introduced in order to eliminate the nonlinearity of damping and to improve the performance of torque tracking. Our proposed method is applied to a simple inverted pendulum system and Roboray. Experimental results show that these two system keep their balance when they are pushed slightly.",
keywords = "balancing control, Humanoid, torque control, virtual gravity",
author = "Joohyung Kim and Kwak, {Ho Seong} and Heekuk Lee and Keehong Seo and Bokman Lim and Minhyung Lee and Jusuk Lee and Kyungsik Roh",
year = "2012",
doi = "10.1109/ICSMC.2012.6378165",
language = "English (US)",
isbn = "9781467317146",
series = "Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics",
pages = "2756--2761",
booktitle = "Proceedings 2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012",
note = "2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012 ; Conference date: 14-10-2012 Through 17-10-2012",
}