Humanoid robot push recovery through walking phase modification

Push recovery is an important capability that needs to be included while developing a robust humanoid robot walking scheme. In this paper we propose an overall control system and a push recovery controller for humanoid robot walking. When the robot is pushed, the algorithm will modify the walking ph...

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Bibliographic Details
Published in2010 IEEE Conference on Robotics, Automation and Mechatronics pp. 569 - 574
Main Authors Adiwahono, Albertus Hendrawan, Chee-Meng Chew, Weiwei Huang, Van Huan Dau
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Control systems
Force feedback
Hardware
Hip
Humanoid robots
Humans
Legged locomotion
Mechatronics
Real time systems
Robot control
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ISBN1424465036
9781424465033
ISSN2158-2181
DOI10.1109/RAMECH.2010.5513130

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Summary:Push recovery is an important capability that needs to be included while developing a robust humanoid robot walking scheme. In this paper we propose an overall control system and a push recovery controller for humanoid robot walking. When the robot is pushed, the algorithm will modify the walking phase to maintain walking, while considering the practical constraints. 3D simulation results of the walking phase modification approach are presented and its effectiveness for push recovery during walking is discussed.
ISBN:1424465036
9781424465033
ISSN:2158-2181
DOI:10.1109/RAMECH.2010.5513130