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Stabilizing Aldebaran's NAO H25 in a single support phase in dierent tasks


Christoph Müri

Semester Thesis, FS12 (10133)

For the NAO robot to be able to perform a fast kick in various directions, it is essential to stabilize the robot actively in the single support phase. In this project, we compare dierent physical concepts of stability of humanoid robots, such as the ground projection of the center of mass, the center of pressure and the zero moment point, and we develop a control strategy to actively stabilize the Aldebaran's NAO H25 robot in the single support phase in dierent tasks. We achieve an inverted pendulum like stabilization by controlling the ankle joints of the robot using two simple PID controllers. Besides the stabilizing controller, a testing environment has been implemented, which lets the user choose between the performance of a simple kicking motion and reference tracking. The testing environment returns plots to observe the behaviour of the controller. The controller has been tested on the robot while performing dierent tasks in the single support phase.


Type of Publication:

(13)Semester/Bachelor Thesis

B. Svetozarevic

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2012:IFA_4137
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