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- Publisher Website: 10.1109/ROBIO49542.2019.8961644
- Scopus: eid_2-s2.0-85079038051
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Conference Paper: Humanoid Robot Locomotion Control based on Perceptive Model
Title | Humanoid Robot Locomotion Control based on Perceptive Model |
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Authors | |
Keywords | humanoid robots legged locomotion motion control path planning stability |
Issue Date | 2019 |
Publisher | IEEE. The Proceedings' web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856 |
Citation | Proceedings of 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 6-8 December 2019, p. 1013-1019 How to Cite? |
Abstract | A humanoid locomotion control method with human-like perceptive model is described in this paper. Traditionally the locomotion problem of biped robot is divided into temporal periodic gait generation and real-time stabilizing control. However due to unmeasurable accumulated errors from simplified dynamic model and other uncertain disturbances, the spatial and temporal deviation from the motion plans askes for a new perceptive locomotion planning and control system which is decoupled with time, rather than adhering to a rigid time schedule regardless of current dynamic balance state. This method also gives the right of interpretation of non-time motion plan of gait to the motion control layer based on a designed perceptive reference, which is directly ensure dynamic balancing and high response rate to the errors. The simulation and experiment on a full-size humanoid robot show the success of the method. |
Persistent Identifier | http://hdl.handle.net/10722/282976 |
ISBN |
DC Field | Value | Language |
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dc.contributor.author | Wang, S | - |
dc.contributor.author | Xi, N | - |
dc.contributor.author | Huang, J | - |
dc.contributor.author | Zhang, J | - |
dc.contributor.author | Bi, S | - |
dc.date.accessioned | 2020-06-05T06:23:41Z | - |
dc.date.available | 2020-06-05T06:23:41Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | Proceedings of 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dali, China, 6-8 December 2019, p. 1013-1019 | - |
dc.identifier.isbn | 9781728163222 | - |
dc.identifier.uri | http://hdl.handle.net/10722/282976 | - |
dc.description.abstract | A humanoid locomotion control method with human-like perceptive model is described in this paper. Traditionally the locomotion problem of biped robot is divided into temporal periodic gait generation and real-time stabilizing control. However due to unmeasurable accumulated errors from simplified dynamic model and other uncertain disturbances, the spatial and temporal deviation from the motion plans askes for a new perceptive locomotion planning and control system which is decoupled with time, rather than adhering to a rigid time schedule regardless of current dynamic balance state. This method also gives the right of interpretation of non-time motion plan of gait to the motion control layer based on a designed perceptive reference, which is directly ensure dynamic balancing and high response rate to the errors. The simulation and experiment on a full-size humanoid robot show the success of the method. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Proceedings' web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856 | - |
dc.relation.ispartof | IEEE International Conference on Robotics and Biomimetics Proceedings | - |
dc.rights | IEEE International Conference on Robotics and Biomimetics Proceedings. Copyright © IEEE. | - |
dc.rights | ©2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | humanoid robots | - |
dc.subject | legged locomotion | - |
dc.subject | motion control | - |
dc.subject | path planning | - |
dc.subject | stability | - |
dc.title | Humanoid Robot Locomotion Control based on Perceptive Model | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Xi, N: xining@hku.hk | - |
dc.identifier.authority | Xi, N=rp02044 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBIO49542.2019.8961644 | - |
dc.identifier.scopus | eid_2-s2.0-85079038051 | - |
dc.identifier.hkuros | 310069 | - |
dc.identifier.spage | 1013 | - |
dc.identifier.epage | 1019 | - |
dc.publisher.place | United States | - |