Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2010.5513130
Title: Humanoid robot push recovery through walking phase modification
Authors: Adiwahono, A.H.
Chew, C.-M. 
Huang, W.
Dau, V.H.
Issue Date: 2010
Source: Adiwahono, A.H.,Chew, C.-M.,Huang, W.,Dau, V.H. (2010). Humanoid robot push recovery through walking phase modification. 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 : 569-574. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2010.5513130
Abstract: 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. ©2010 IEEE.
Source Title: 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/73516
ISBN: 9781424465033
DOI: 10.1109/RAMECH.2010.5513130
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