Ankle Variable Impedance Control for Humanoid Robot Upright Balance Control

Kaiyang Yin, Yaxu Xue, Yifei Wang, Longzhi Yang*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Downloads (Pure)


Upright balance control is the most fundamental, yet essential, function of a humanoid robot to enable the performance of various tasks that are traditionally performed by human being in various unstructured environments. Such control schemes were conventionally implemented by developing accurate physical and kinematic models based on fixed torque-ankle states, which often lack robustness to external disturbing forces. This paper presents a variable impedance control method that generates the desired torques for stable humanoid robot upright balance control, to address this limitation. The robustness of the proposed method was brought by a variable parameter approach with the support of the impedance model. The variable parameter of the ankle angle is able to describe the balance state of a humanoid robot, and the proper adjustment of such parameter ensures the effectiveness of the control model. The proposed approach was applied to a humanoid robot on a moving vehicle, and the experimental results demonstrated its efficacy and robustness.
Original languageEnglish
Title of host publicationAdvances in Computational Intelligence Systems
Subtitle of host publicationContributions Presented at the 20th UK Workshop on Computational Intelligence, September 8-10, 2021, Aberystwyth, Wales, UK
EditorsThomas Jansen, Richard Jensen, Neil Mac Parthaláin, Chih-Min Lin
Place of PublicationCham
Number of pages12
ISBN (Electronic)9783030870942
ISBN (Print)9783030870935
Publication statusPublished - 2022
Event20th UK Workshop on Computational Intelligence: UKCI 2021 - Aberystwyth University, Aberystwyth, United Kingdom
Duration: 8 Sept 202110 Sept 2021

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


Conference20th UK Workshop on Computational Intelligence
Country/TerritoryUnited Kingdom
Internet address


Dive into the research topics of 'Ankle Variable Impedance Control for Humanoid Robot Upright Balance Control'. Together they form a unique fingerprint.

Cite this