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Humanoid robot solving a task of balancing on a tilting platform

Svyatoslav Golousov, Sergei Savin, Semen A. Kurkin, Artem Badarin, Vladimir Khorev, Alexander Hramov, Alexandr Klimchik
This study focuses on the control of a humanoid robot in a new environment, whose parameters were not accounted for during the design of the robot’s control system. The environments in question are an active and a passive tilting platform. The study shows that the humanoid robot behaves similar to a human subject in the experiments with low viscous friction. In the experiment with high viscous friction, it was demonstrated that the robot is capable of balancing on the platform. Same result was achieved in the case of an active platform. The paper provides a discussion of how the task of standing on a passive platform deviated from the model-based control formulation with constrained linear quadratic regulator and projected inverse dynamics, designed for the case of walking on stationary horizontal plane. The results in the paper suggest that while there are limitations to how well standard control approaches can adapt to the unknown environments, it is still possible to use them directly.
CYBERNETICS AND PHYSICS, Vol. 9, No. 1, 2020 , 5-12, https://doi.org/10.35470/2226-4116-2020-9-1-5-12
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