Please use this identifier to cite or link to this item:
Title: Push recovery through walking phase modification for bipedal locomotion
Authors: Adiwahono, A.H.
Chew, C.-M. 
Liu, B.
Keywords: Bipedal robot
Bipedal walking
Push recovery
Issue Date: Sep-2013
Source: Adiwahono, A.H., Chew, C.-M., Liu, B. (2013-09). Push recovery through walking phase modification for bipedal locomotion. International Journal of Humanoid Robotics 10 (3) : -. ScholarBank@NUS Repository.
Abstract: Push recovery is an important capability for a biped to safely maneuver in a real dynamic environment. In this paper, a generalized push recovery scheme to handle pushes from any direction that may occur at any walking phase is developed. Using the concept of walking phase modification, a series of systematic push recovery scheme that takes into account the severity of the push is presented. The result is that a bipedal robot could adapt to pushes according to the magnitude of disturbance and determine the best course of action. A number of push recovery experiments with different walking phases and push directions have been carried out using a 12-DOF humanoid robot model in dynamic simulations. The versatility and potential of the overall scheme is also demonstrated with the bipedal robot balancing on an accelerating cart. © 2013 World Scientific Publishing Company.
Source Title: International Journal of Humanoid Robotics
ISSN: 02198436
DOI: 10.1142/S0219843613500229
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.


checked on Mar 8, 2018


checked on Feb 13, 2018

Page view(s)

checked on Mar 12, 2018

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.