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|Title:||Push recovery controller for bipedal robot walking|
|Source:||Adiwahono, A.H., Chew, C.-M., Weiwei, H., Yu, Z. (2009). Push recovery controller for bipedal robot walking. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM : 162-167. ScholarBank@NUS Repository. https://doi.org/10.1109/AIM.2009.5230022|
|Abstract:||The capability to recover from a push and maintain balance is necessary for a humanoid robot to operate in the real environment. This paper analyzes different types of pushes, and proposes a controller for handling a hard instantaneous push that occurs during humanoid robot walking. The proposed controller detects the push, calculates the steps a robot requires to recover from the push, and generates the joint motion for actively stabilizing the robot. Simulation results show that a 3D human-sized humanoid robot can successfully recover from a hard instantaneous push during walking by using this controller. ©2009 IEEE.|
|Source Title:||IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM|
|Appears in Collections:||Staff Publications|
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