Title :
Humanoid robot push recovery through foot placement
Author :
Yasin, Ahmad ; Qiang Huang ; Qian Xu ; Sultan, Malik Saad
Author_Institution :
Key Lab. of Biomimetic Robots & Syst., Beijing Inst. of Technol., Beijing, China
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.
Keywords :
humanoid robots; legged locomotion; motion control; nonlinear control systems; pendulums; position control; AHRS; Attitude and Heading Reference System; balance recovery; biped robot push recovery; external push; foot placement approach; humanoid robot push recovery; inverted pendulum model; kinetic energy; potential energy; push direction; push strength; step direction; step size; Foot; Hip; Humanoid robots; Kinetic energy; Legged locomotion; Mathematical model; Biped; Foot Placement; Push Recovery; ZMP;
Conference_Titel :
Mechatronics and Automation (ICMA), 2012 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4673-1275-2
DOI :
10.1109/ICMA.2012.6282737
