Please use this identifier to cite or link to this item:
|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|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Mar 6, 2018
WEB OF SCIENCETM
checked on Jan 22, 2018
checked on Mar 11, 2018
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.