English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper aims for a controller that can stabilize a position-controlledhumanoid robot when standing still or walking on synthetic grass even whensubjected to external disturbances. Two types of controllers are designed andimplemented: ankle strategy and stepping strategy. The robot's joints consistof position-controlled servos which can be complicated to model analyticallydue to nonlinearities and non-measurable parameters, hence the dynamic model ofthe humanoid robot is acquired using a non-recursive least squares systemidentification. This model is also used to design a Kalman Filter to estimatethe system states from noisy inertial measurement unit (IMU) sensor and designa linear quadratic regulator (LQR) controller. To handle the nonlinearities,the LQR controller is extended with fuzzy logic algorithm that changes the LQRgain value based on angle and angular velocity membership functions. Theproposed control system can maintain the humanoid robot's stability around thepitch axis when subject to pendulum disturbances or even restraining force froma spring balance.

Humanoid Robot Pitch Axis Stabilization using Linear Quadratic Regulator with Fuzzy Logic and Capture Point