Name
Abstract | ||
|---|---|---|
This paper presents a method for humanoid push recovery in the general context of multiple non-coplanar contacts. The method consists of a controller that minimizes the kinetic energy of a perturbed whole body humanoid system, while controlling the support change to achieve the stabilization (or push recovery) of the system. The controller uses a simple model based approach to determine the necessity of support change and in this case to approximate a new contact position that allows to stabilize the system. The controller is tested on a simulated humanoid robot and it succeeds in stabilizing the robot in coplanar and non-coplanar environments. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IROS.2013.6696949 | Intelligent Robots and Systems |
Keywords | Field | DocType |
humanoid robots,perturbation techniques,stability,contact position,coplanar environments,humanoid push recovery control,multiple noncoplanar contacts,perturbed whole body humanoid system,simple model based approach,simulated humanoid robot,stabilization,support change | Control theory,Computer science,Control theory,Control engineering,Robot,Humanoid robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 2 | 0.37 |
References | Authors | |
15 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Darine Mansour | 1 | 2 | 0.37 |
| Alain Micaelli | 2 | 98 | 14.12 |
| Pierre Lemerle | 3 | 19 | 2.80 |