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Title: Push recovery through walking phase modification for bipedal locomotion
Authors: Adiwahono, A.H.
Chew, C.-M. 
Liu, B.
Keywords: Bipedal robot
Bipedal walking
Push recovery
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.
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
ISSN: 02198436
DOI: 10.1142/S0219843613500229
Appears in Collections:Staff Publications

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