Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIM.2009.5230022
Title: Push recovery controller for bipedal robot walking
Authors: Adiwahono, A.H.
Chew, C.-M. 
Weiwei, H.
Yu, Z. 
Issue Date: 2009
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
URI: http://scholarbank.nus.edu.sg/handle/10635/73793
ISBN: 9781424428533
DOI: 10.1109/AIM.2009.5230022
Appears in Collections:Staff Publications

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