Gait Transition Between Standing and Falling Down for a Humanoid Robot

Libo Meng; Marco Ceccarelli; Zhangguo Yu; Xuechao Chen; Qiang Huang

doi:10.1007/978-3-030-20131-9_247

Gait Transition Between Standing and Falling Down for a Humanoid Robot

Libo Meng^*
, Marco Ceccarelli
, Zhangguo Yu
, Xuechao Chen
, Qiang Huang

^*此作品的通讯作者

机电学院

Beijing Institute of Technology
University of Rome Tor Vergata

科研成果: 期刊稿件 › 文章 › 同行评审

2 引用（Scopus）

摘要

In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.

源语言	英语
页（从-至）	2501-2509
页数	9
期刊	Mechanisms and Machine Science
卷	73
DOI	https://doi.org/10.1007/978-3-030-20131-9_247
出版状态	已出版 - 2019

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10.1007/978-3-030-20131-9_247

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title = "Gait Transition Between Standing and Falling Down for a Humanoid Robot",

abstract = "In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.",

keywords = "Balance Control, Gait Transition, Humanoid Robot",

author = "Libo Meng and Marco Ceccarelli and Zhangguo Yu and Xuechao Chen and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

year = "2019",

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language = "English",

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T1 - Gait Transition Between Standing and Falling Down for a Humanoid Robot

AU - Meng, Libo

AU - Ceccarelli, Marco

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Huang, Qiang

PY - 2019

Y1 - 2019

N2 - In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.

AB - In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.

KW - Balance Control

KW - Gait Transition

KW - Humanoid Robot

UR - https://www.scopus.com/pages/publications/85067570716

U2 - 10.1007/978-3-030-20131-9_247

DO - 10.1007/978-3-030-20131-9_247

M3 - Article

AN - SCOPUS:85067570716

SN - 2211-0984

VL - 73

SP - 2501

EP - 2509

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Gait Transition Between Standing and Falling Down for a Humanoid Robot

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