Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIM.2009.5230022
DC FieldValue
dc.titlePush recovery controller for bipedal robot walking
dc.contributor.authorAdiwahono, A.H.
dc.contributor.authorChew, C.-M.
dc.contributor.authorWeiwei, H.
dc.contributor.authorYu, Z.
dc.date.accessioned2014-06-19T05:39:25Z
dc.date.available2014-06-19T05:39:25Z
dc.date.issued2009
dc.identifier.citationAdiwahono, 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
dc.identifier.isbn9781424428533
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73793
dc.description.abstractThe 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/AIM.2009.5230022
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/AIM.2009.5230022
dc.description.sourcetitleIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
dc.description.page162-167
dc.identifier.isiut000277062800028
Appears in Collections:Staff Publications

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