Research on balance control of humanoid robot based on inertial measurement unit

This collection of papers investigates different uses of IMU (Inertial Measurement Unit) technology in areas such as robotics, industry, and rehabilitation. In applications involving the compensation of robot flexibility and energetic balance control, IMU sensors, when paired with geometric models and Extended Kalman Filters (EKF), substitute conventional force sensors. This substitution enhances the real-time estimation of contact forces and moments. These methods, which operate at high frequencies, greatly strengthen the robot's balance and its ability to withstand external disturbances. Another key focus of the research is joint state estimation and posture control in robots. Here, IMU data, combined with other models, allows for accurate motion tracking and boosts energetic stability. Importantly, the fusion of IMU with vision and force sensors further improves motion capture accuracy. Utilizing IMU technology is not limited to robotics. In pediatric rehabilitation, it enhances motion recognition and engagement by giving therapists real-time feedback, thereby overcoming the limitations of vision-based systems such as Kinect. Similarly, in industrial contexts, wearable devices that use IMUs surpass traditional vision systems in gesture recognition within complex environments, yielding greater accuracy and energy efficiency. This illustrates the adaptability of IMUs across various domains, including robotic control, healthcare, and manufacturing processes.