Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach

In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detection, (2) push recovery balance control, (3) trajectory planning, and (4) inverse kinematics. The proposed method is implemented on the FPGA chip so that it can quickly respond to keep the small-sized humanoid robot balanced when it is pushed by external forces. A gyroscope and an accelerometer are used to detect the inclination angle of the robot. When the robot is under the action of an external force, an excessively large inclination angle may be produced, causing it to lose its balance. A linear inverted pendulum with a flywheel model is employed to estimate a capture point where the robot should step to maintain its balance. In addition, the central pattern generators (CPGs) with a sinusoidal function are adopted to plan the stepping trajectories. Some experimental results are presented to illustrate that the proposed real-time balance control method can effectively enable the robot to keep its balance to avoid falling down.

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Balance control in whole body coordination framework for biped humanoid robot MAHRU-R

RO-MAN 2008 - The 17th IEEE International Symposium on Robot and Human Interactive Communication ◽

10.1109/roman.2008.4600699 ◽

2008 ◽

Author(s):

Young-Hwan Chang ◽

Yonghwan Oh ◽

Doik Kim ◽

Seokmin Hong

Keyword(s):

Humanoid Robot ◽

Balance Control ◽

Whole Body ◽

Coordination Framework

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Calcium and Phosphorus Whole-Body Balance and Kinetics in Patients With Moderate Chronic Kidney Disease

Case Medical Research ◽

10.31525/ct1-nct04019379 ◽

2019 ◽

Author(s):

Keyword(s):

Chronic Kidney Disease ◽

Kidney Disease ◽

Whole Body ◽

Body Balance ◽

Calcium And Phosphorus ◽

Moderate Chronic Kidney Disease

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Biomechanical Aspects of the Foot Arch, Body Balance and Body Weight Composition of Boys Training Football

International Journal of Environmental Research and Public Health ◽

10.3390/ijerph18095017 ◽

2021 ◽

Vol 18 (9) ◽

pp. 5017

Author(s):

Joanna M. Bukowska ◽

Małgorzata Jekiełek ◽

Dariusz Kruczkowski ◽

Tadeusz Ambroży ◽

Jarosław Jaszczur-Nowicki

Keyword(s):

Body Composition ◽

Body Height ◽

Study Groups ◽

The Body ◽

Whole Body ◽

Training Methods ◽

Training Experience ◽

Mean Values ◽

Significance Level ◽

Body Balance

Background: The aim of the study is to assess the body balance and podological parameters and body composition of young footballers in the context of the control of football training. Methods: The study examined the distribution of the pressure of the part of the foot on the ground, the arch of the foot, and the analysis of the body composition of the boys. The pressure center for both feet and the whole body was also examined. The study involved 90 youth footballers from Olsztyn and Barczewo in three age groups: 8–10 years, 11–13 years old, and 14–16 years. The study used the Inbody 270 body composition analyzer and the EPSR1, a mat that measures the pressure distribution of the feet on the ground. Results: The results showed statistically significant differences in almost every case for each area of the foot between the groups of the examined boys. The most significant differences were observed for the metatarsal area and the left heel. In the case of stabilization of the whole body, statistically significant differences were noted between all study groups. In the case of the body composition parameters, in the examined boys, a coherent direction of changes was noticed for most of them. The relationships and correlations between the examined parameters were also investigated. The significance level in the study was set at p < 0.05. Conclusions: Under the training rigor, a statistically significant increase in stability was observed with age. The total length of the longitudinal arch of both feet of the examined boys showed a tendency to flatten in direct proportion to the age of the examined boys. Mean values of the body composition parameters reflect changes with the ontogenetic development, basic somatic parameters (body height and weight) and training experience, and thus with the intensity and volume of training. This indicates a correct training process that does not interfere with the proper development of the body in terms of tissue and biochemical composition.

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Power Reserve Classification and Control for Peaking Balance with Intermittent Generation Grid

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.521.252 ◽

2014 ◽

Vol 521 ◽

pp. 252-255

Author(s):

Jian Yuan Xu ◽

Jia Jue Li ◽

Jie Jun Zhang ◽

Yu Zhu

Keyword(s):

Real Time ◽

Balance Control ◽

Control Model ◽

Intermediate Variable ◽

Proposed Model ◽

Grid Operators ◽

Period Constant ◽

Grid Operation ◽

And Control ◽

Time Reserve

The problem of intermittent generation peaking is highly concerned by the grid operator. To build control model for solving unbalance of peaking is great necessary. In this paper, we propose reserve classification control model which contain constant reserve control model with real-time reserve control model to guide the peaking balance of the grid with intermittent generation. The proposed model associate time-period constant reserve control model with real-time reserve control model to calculate, and use the peaking margin as intermediate variable. Therefore, the model solutions which are the capacity of reserve classification are obtained. The grid operators use the solution to achieve the peaking balance control. The proposed model was examined by real grid operation case, and the results of the case demonstrate the validity of the proposed model.

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