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|Title:||Push recovery through walking phase modification for bipedal locomotion||Authors:||Adiwahono, A.H.
|Issue Date:||Sep-2013||Citation:||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. https://doi.org/10.1142/S0219843613500229||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||URI:||http://scholarbank.nus.edu.sg/handle/10635/61179||ISSN:||02198436||DOI:||10.1142/S0219843613500229|
|Appears in Collections:||Staff Publications|
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