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Control for humanoid robot walking stabilization

Grant number: 20/04559-6
Support Opportunities:Scholarships in Brazil - Scientific Initiation
Effective date (Start): July 01, 2020
Effective date (End): June 30, 2021
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Principal Investigator:Marcos Ricardo Omena de Albuquerque Maximo
Grantee:Reynaldo Santos de Lima
Host Institution: Divisão de Ciência da Computação (IEC). Instituto Tecnológico de Aeronáutica (ITA). Ministério da Defesa (Brasil). São José dos Campos , SP, Brazil


In this work, we intend to apply adaptations in algorithms for humanoid robot walking stabilization in low-cost humanoid robots (ITAndroids Chape 1st and 2nd generations). This work will take place in the Autonomous Computational Systems Lab (LAB-SCA), where there is a study of humanoid robot walking, Robotis OP2 and ITAndroids Chape. The control technique used for the development of the current walking in the Chape 1st generation robot will be studied in a first phase. This is based on the method of Preview Control of Zero-Moment Point, ZMP. The developed code will also be studied with the goal of possible optimizations as well as to adapt it to the Chape 2nd generation robot. We will use the Gazebo simulator, which is already used in works done in LAB-SCA, to validate the implemented stabilization controller and the employed performance adjustments. After the validation in the simulator, we intend to execute experiments with the real robot, verifying the effectivity of the developed work with the use of the inertial measurement unit embedded in the robots. (AU)

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