Automatic Characterization of Phase Resetting Controllers for Quick Balance Recovery During Biped Locomotion

Abstract

This paper proposes a methodology for automatic characterization of phase resetting controllers for quick balance recovery after loss of it during biped locomotion. The system allows to easily characterize and design useful phase resetting controllers using a simulation environment. Several experiments have been performed using a NAO humanoid robot in order to automatically characterize and test the phase resetting mechanism. Notwithstanding, it can be implemented by using any humanoid robot with a similar kinematic structure. Once the controllers are characterized, the proposed system detects the robot’s current state through the information provided by its inertial sensors and then applies the correct phase resetting in a short period of time in order to quickly recover the robot’s balance. The proposed control scheme reacts quickly whenever unknown external perturbations are applied to the robot’s body by using the proposed phase resetting mechanism.