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Content Provider | IEEE Xplore Digital Library |
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Author | Yasin, A. Qiang Huang Qian Xu Sultan, M.S. |
Copyright Year | 2012 |
Description | Author affiliation: Key Laboratory of Biomimetic Robots and Systems, Key Laboratory of Intelligent Control & Decision of Complex Systems, Intelligent Robotics Institute, School of Mechatronics Engineering, Beijing Institute of Technology, Beijing, 100081, P.R. China (Yasin, A.; Qiang Huang; Qian Xu; Sultan, M.S.) |
Abstract | This paper presents biped robot push recovery through foot placement. The main challenge in foot placement approach i.e. direction and size of step to be taken is estimated based on inverted pendulum model considering change in kinetic and potential energies in case of external push. The direction and strength of push in our real robot is detected through Attitude and Heading Reference System (AHRS) and the balance is recovered by foot placement in appropriate direction with calculated step size. |
Starting Page | 59 |
Ending Page | 63 |
File Size | 248755 |
Page Count | 5 |
File Format | |
ISBN | 9781467312752 |
e-ISBN | 9781467312783 |
DOI | 10.1109/ICMA.2012.6282737 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2012-08-05 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Legged locomotion Foot Humanoid robots Kinetic energy Mathematical model Hip ZMP Biped Push Recovery Foot Placement |
Content Type | Text |
Resource Type | Article |
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