Humanoid robot push recovery through foot placement

Awais Yasin; Qiang Huang; Qian Xu; M. Saad Sultan

doi:10.1109/ICMA.2012.6282737

Humanoid robot push recovery through foot placement

Awais Yasin^*, Qiang Huang, Qian Xu, M. Saad Sultan

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages	59-63
Number of pages	5
DOIs	https://doi.org/10.1109/ICMA.2012.6282737
Publication status	Published - 2012
Event	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China Duration: 5 Aug 2012 → 8 Aug 2012

Publication series

Name	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Conference

Conference	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Country/Territory	China
City	Chengdu
Period	5/08/12 → 8/08/12

Keywords

Biped
Foot Placement
Push Recovery
ZMP

Access to Document

10.1109/ICMA.2012.6282737

Cite this

Yasin, A., Huang, Q., Xu, Q., & Sultan, M. S. (2012). Humanoid robot push recovery through foot placement. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (pp. 59-63). Article 6282737 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6282737

@inproceedings{80e1f07d494c4efbb99c91ebc2472aee,

title = "Humanoid robot push recovery through foot placement",

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 = "Biped, Foot Placement, Push Recovery, ZMP",

author = "Awais Yasin and Qiang Huang and Qian Xu and Sultan, {M. Saad}",

year = "2012",

doi = "10.1109/ICMA.2012.6282737",

language = "English",

isbn = "9781467312776",

series = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",

pages = "59--63",

booktitle = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",

note = "2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 ; Conference date: 05-08-2012 Through 08-08-2012",

}

Yasin, A, Huang, Q, Xu, Q & Sultan, MS 2012, Humanoid robot push recovery through foot placement. in 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012., 6282737, 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, pp. 59-63, 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, Chengdu, China, 5/08/12. https://doi.org/10.1109/ICMA.2012.6282737

Humanoid robot push recovery through foot placement. / Yasin, Awais; Huang, Qiang; Xu, Qian et al.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. p. 59-63 6282737 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Huang, Qiang

AU - Xu, Qian

AU - Sultan, M. Saad

PY - 2012

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N2 - 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.

AB - 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.

KW - Biped

KW - Foot Placement

KW - Push Recovery

KW - ZMP

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T3 - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

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BT - 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

T2 - 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

Y2 - 5 August 2012 through 8 August 2012

ER -

Humanoid robot push recovery through foot placement

Abstract

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Keywords

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