Name
Abstract | ||
|---|---|---|
Push recovery is an important capability for a biped to safely maneuver in a real dynamic environment. In this paper, a generalized push recovery scheme to handle pushes from any direction that may occur at any walking phase is developed. Using the concept of walking phase modification, a series of systematic push recovery scheme that takes into account the severity of the push is presented. The result is that a bipedal robot could adapt to pushes according to the magnitude of disturbance and determine the best course of action. A number of push recovery experiments with different walking phases and push directions have been carried out using a 12-DOF humanoid robot model in dynamic simulations. The versatility and potential of the overall scheme is also demonstrated with the bipedal robot balancing on an accelerating cart. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1142/S0219843613500229 | INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS |
Keywords | Field | DocType |
Bipedal robot, bipedal walking, push recovery | Bipedalism,Course of action,Computer science,Simulation,Robot,Humanoid robot | Journal |
Volume | Issue | ISSN |
10 | 3 | 0219-8436 |
Citations | PageRank | References |
4 | 0.47 | 15 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Albertus Hendrawan Adiwahono | 1 | 13 | 3.43 |
| Chee-Meng Chew | 2 | 375 | 40.58 |
| Bingbing Liu | 3 | 187 | 24.52 |