Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Implementing a ICP based Controller for Skippy
Submission Author:
Antonio Bento Filho , ES
Co-Authors:
Georg Wiedebach, Jerry Pratt, Antonio Bento Filho
Presenter: Antonio Bento Filho
doi://10.26678/ABCM.COBEM2017.COB17-1081
Abstract
This paper presents the implementation of an Instantaneous Capture Point (ICP) based controller for the Skippy robot. Skippy is a robot with a single point foot and only two actuated Degrees of Freedom (DoF), one in the sagittal plane (hip) and one in the frontal plane (shoulder). In this work we focus on maintaining balance without changing the position of the foot point (stepping or hopping). Balance of the robot is achieved through exploring the dynamic relationship between the ICP and the Centroidal Moment Pivot(CMP). The control approach is based only on the generation of angular momentum. Results showing controller performance during balancing upright, crouching, and recovering from pushes are presented in simulation with the Skippy robot. The work validates the ICP control approach for angular momentum based balancing in a very underactuated, low DoF robot.
Keywords
Skippy, ICP, CMP, Angular Momentum, Balance Control
