Postural balance using a disturbance rejection method

Abstract

In this paper the synthesis of balance control is presented. The postural equilibrium condition is introduced using a simplified model of a humanoid robot body. Next the problem of disturbances rejection control (DRC) using dedicated controller is discussed. The simulation experiments with the DRC are described, and the system behavior during different disturbances is summarized. The paper ends with concluding remarks. The concept of postural balancing control using especially synthesized DRC controller which incorporates the robot dynamics is the novel contribution of this work. The controller allows not only to hold the static posture but also to follow dynamically the sway of supporting surface by rejecting the influence of disturbances. The work is focusing on the real application. The postural stability was tested using the simulator of robot dynamics what made the final validation of the method before implementing it in the real robot.