Name
Title | ||
|---|---|---|
A new optimization based approach for push recovery in case of multiple noncoplanar contacts |
Abstract | ||
|---|---|---|
This paper presents a new approach for humanoid push recovery in a generalized noncoplanar multicontact context. Our approach is based on a simplified model and consists in stabilizing the perturbed system while maintaining fixed contacts with the environment or by changing a contact configuration when needed to achieve stabilization. A first step of our strategy chooses the optimal contact to change when needed. A second step stabilizes the system while maintaining fixed contacts, when possible or by calculating the minimum change in the position of the optimal contact, capable of stabilizing the system. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/Humanoids.2011.6100838 | 2011 11th IEEE-RAS International Conference on Humanoid Robots |
Keywords | Field | DocType |
optimization based approach,multiple noncoplanar contact,humanoid push recovery,perturbed system stabilization,optimal contact position | Motion control,Computer science,Simulation,Control theory,Mobile robot,Humanoid robot | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-61284-866-2 | 1 |
PageRank | References | Authors |
0.36 | 11 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Darine Mansour | 1 | 1 | 0.36 |
| Alain Micaelli | 2 | 98 | 14.12 |
| Adrien Escande | 3 | 273 | 22.91 |
| Pierre Lemerle | 4 | 19 | 2.80 |