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Conference Paper: Perceptive Planning and Control for Biped Robot Walking with Unexpected Disturbance

TitlePerceptive Planning and Control for Biped Robot Walking with Unexpected Disturbance
Authors
Issue Date2019
PublisherIEEE. 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?
AbstractBiped 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 Identifierhttp://hdl.handle.net/10722/282983
ISBN

 

DC FieldValueLanguage
dc.contributor.authorWang, S-
dc.contributor.authorBi, S-
dc.contributor.authorHuang, J-
dc.contributor.authorZhang, J-
dc.contributor.authorFang, S-
dc.contributor.authorXi, N-
dc.date.accessioned2020-06-05T06:23:45Z-
dc.date.available2020-06-05T06:23:45Z-
dc.date.issued2019-
dc.identifier.citation2019 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.isbn978-1-7281-0771-4-
dc.identifier.urihttp://hdl.handle.net/10722/282983-
dc.description.abstractBiped 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.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1800486-
dc.relation.ispartofIEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)-
dc.rightsIEEE 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.titlePerceptive Planning and Control for Biped Robot Walking with Unexpected Disturbance-
dc.typeConference_Paper-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/CYBER46603.2019.9066464-
dc.identifier.scopuseid_2-s2.0-85084289963-
dc.identifier.hkuros310083-
dc.identifier.spage1418-
dc.identifier.epage1423-
dc.publisher.placeUnited States-

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