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- Publisher Website: 10.1109/CYBER46603.2019.9066464
- Scopus: eid_2-s2.0-85084289963
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Conference Paper: Perceptive Planning and Control for Biped Robot Walking with Unexpected Disturbance
Title | Perceptive Planning and Control for Biped Robot Walking with Unexpected Disturbance |
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Authors | |
Issue Date | 2019 |
Publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486 |
Citation | 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China, 29 July-2 August. 2019, p. 1418-1423 How to Cite? |
Abstract | Biped humanoid robots are unstable intrinsically with unexpected disturbances. Traditional locomotion algorithms use time as reference for cooperative motions of feet, center of mass and other parts of body with proper dynamic model and Zero Moment Point (ZMP) based balance criteria. Yet such cooperation can fail due to unforeseen disturbances on one of robot's parts. In this paper, a new perceptive planning and control scheme is proposed with non-time, but balance related reference for bipedal walking to meet this challenge. Different from traditional gait planning and control, in which trajectories use time as a global reference in joint level, trajectories of left, right foot and center of mass (CoM), as multi-robot, use ZMP related reference with the continuous perceptive ability of unexpected disturbance. The proof-of-concept tests by simulation and hardware of a full-size humanoid robot are demonstrated. |
Persistent Identifier | http://hdl.handle.net/10722/282983 |
ISBN |
DC Field | Value | Language |
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dc.contributor.author | Wang, S | - |
dc.contributor.author | Bi, S | - |
dc.contributor.author | Huang, J | - |
dc.contributor.author | Zhang, J | - |
dc.contributor.author | Fang, S | - |
dc.contributor.author | Xi, N | - |
dc.date.accessioned | 2020-06-05T06:23:45Z | - |
dc.date.available | 2020-06-05T06:23:45Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | 2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China, 29 July-2 August. 2019, p. 1418-1423 | - |
dc.identifier.isbn | 978-1-7281-0771-4 | - |
dc.identifier.uri | http://hdl.handle.net/10722/282983 | - |
dc.description.abstract | Biped humanoid robots are unstable intrinsically with unexpected disturbances. Traditional locomotion algorithms use time as reference for cooperative motions of feet, center of mass and other parts of body with proper dynamic model and Zero Moment Point (ZMP) based balance criteria. Yet such cooperation can fail due to unforeseen disturbances on one of robot's parts. In this paper, a new perceptive planning and control scheme is proposed with non-time, but balance related reference for bipedal walking to meet this challenge. Different from traditional gait planning and control, in which trajectories use time as a global reference in joint level, trajectories of left, right foot and center of mass (CoM), as multi-robot, use ZMP related reference with the continuous perceptive ability of unexpected disturbance. The proof-of-concept tests by simulation and hardware of a full-size humanoid robot are demonstrated. | - |
dc.language | eng | - |
dc.publisher | IEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486 | - |
dc.relation.ispartof | IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) | - |
dc.rights | IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Copyright © IEEE. | - |
dc.rights | ©2019 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.title | Perceptive Planning and Control for Biped Robot Walking with Unexpected Disturbance | - |
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/CYBER46603.2019.9066464 | - |
dc.identifier.scopus | eid_2-s2.0-85084289963 | - |
dc.identifier.hkuros | 310083 | - |
dc.identifier.spage | 1418 | - |
dc.identifier.epage | 1423 | - |
dc.publisher.place | United States | - |