Name
Abstract | ||
|---|---|---|
This video highlights work to date on the Yobotics-IHMC Lower Body Humanoid Robot. The robot is a twelve degree-of-freedom robot with force controllable Series Elastic Actuators at each degree of freedom. Control algorithms utilize Virtual Model Control, and foot placement is determined using Capture Regions. The robot can recover from moderate disturbances and walk on flat ground. Ongoing work is focused on improving robustness to disturbances, walking more quickly and efficiently, and walking over rough terrain. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/IROS.2009.5354430 | IROS |
Keywords | Field | DocType |
moderate disturbance,twelve degree-of-freedom robot,foot placement,capture regions,yobotics-ihmc lower body humanoid,flat ground,virtual model control,force controllable series elastic,ongoing work,control algorithm,leg,humanoid robot,robustness,foot,actuators,degree of freedom,robust control,humanoid robots | Social robot,Computer science,Control engineering,Artificial intelligence,Humanoid robot,Robot control,Computer vision,Bang-bang robot,Simulation,Robot kinematics,Robot end effector,Robot,Articulated robot | Conference |
Citations | PageRank | References |
5 | 0.54 | 2 |
Authors | ||
17 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jerry E. Pratt | 1 | 888 | 89.98 |
| Ben Krupp | 2 | 5 | 0.54 |
| Victor Ragusila | 3 | 10 | 1.61 |
| John Rebula | 4 | 192 | 7.44 |
| Twan Koolen | 5 | 394 | 15.49 |
| Niels van Nieuwenhuizen | 6 | 5 | 0.54 |
| Chris Shake | 7 | 5 | 0.54 |
| Travis Craig | 8 | 27 | 2.24 |
| John Taylor | 9 | 5 | 0.54 |
| Greg Watkins | 10 | 7 | 1.13 |
| Peter Neuhaus | 11 | 188 | 12.39 |
| Matthew Johnson | 12 | 503 | 35.75 |
| Steve Shooter | 13 | 5 | 0.54 |
| Keith Buffinton | 14 | 5 | 0.54 |
| Fabian Canas | 15 | 13 | 1.58 |
| John Carff | 16 | 154 | 7.72 |
| William Howell | 17 | 6 | 1.63 |