摘要
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.
| 源语言 | 英语 |
|---|---|
| 主期刊名 | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 |
| 页 | 59-63 |
| 页数 | 5 |
| DOI | |
| 出版状态 | 已出版 - 2012 |
| 活动 | 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, 中国 期限: 5 8月 2012 → 8 8月 2012 |
出版系列
| 姓名 | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 |
|---|
会议
| 会议 | 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 |
|---|---|
| 国家/地区 | 中国 |
| 市 | Chengdu |
| 时期 | 5/08/12 → 8/08/12 |
指纹
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Yasin, A., Huang, Q., Xu, Q., & Sultan, M. S. (2012). Humanoid robot push recovery through foot placement. 在 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (页码 59-63). 文章 6282737 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6282737