Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

Zhangguo Yu; Fei Meng; Qiang Huang; Xuechao Chen; Gan Ma; Jing Li

doi:10.1080/10798587.2014.934587

Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

Zhangguo Yu^*, Fei Meng, Qiang Huang, Xuechao Chen, Gan Ma, Jing Li

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

Biped robots are expected to keep stability after experiencing unknown disturbances which often exist in human daily environments. This paper presents a novel method to reject omnidirectional disturbances by optimizing the accelerations of the floating base of the robot. The optimized accelerations keep the desired external forces within their constraints and generate coordinated whole-body motion to reject disturbances from all directions. The effectiveness of the proposed method is confirmed by simulations with disturbance-rejection scenarios.

Original language	English
Pages (from-to)	471-485
Number of pages	15
Journal	Intelligent Automation and Soft Computing
Volume	20
Issue number	4
DOIs	https://doi.org/10.1080/10798587.2014.934587
Publication status	Published - 2 Oct 2014

Keywords

Acceleration optimization
Biped robot
Disturbance rejection
Inverse dynamics

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10.1080/10798587.2014.934587

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abstract = "Biped robots are expected to keep stability after experiencing unknown disturbances which often exist in human daily environments. This paper presents a novel method to reject omnidirectional disturbances by optimizing the accelerations of the floating base of the robot. The optimized accelerations keep the desired external forces within their constraints and generate coordinated whole-body motion to reject disturbances from all directions. The effectiveness of the proposed method is confirmed by simulations with disturbance-rejection scenarios.",

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AU - Ma, Gan

AU - Li, Jing

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AB - Biped robots are expected to keep stability after experiencing unknown disturbances which often exist in human daily environments. This paper presents a novel method to reject omnidirectional disturbances by optimizing the accelerations of the floating base of the robot. The optimized accelerations keep the desired external forces within their constraints and generate coordinated whole-body motion to reject disturbances from all directions. The effectiveness of the proposed method is confirmed by simulations with disturbance-rejection scenarios.

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KW - Inverse dynamics

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Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

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Keywords

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