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- Publisher Website: 10.1109/ROBOT.2006.1642103
- Scopus: eid_2-s2.0-33845665894
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Conference Paper: Stepping motion for a human-like character to maintain balance against large perturbations
| Title | Stepping motion for a human-like character to maintain balance against large perturbations |
|---|---|
| Authors | |
| Issue Date | 2006 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 2661-2666 How to Cite? |
| Abstract | We propose a method of maintaining balance for a human-like character against large perturbations. The method enables a human-like model to maintain its balance with active whole-body motion, such as rotating its arms, bending down, and taking a step, if necessary. First, we capture the human motions of maintaining balance and abstract essential mechanisms from these motions. Next, we construct a model of maintaining balance that has a simple structure, such as an inverted pendulum. This model has two modes of maintaining balance: keeping the feet on the ground, and stepping. In this paper, the stepping mode is mainly described. Finally, we generate whole-body motion based on the model against several perturbations, and we discuss the validity of our method. © 2006 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/288909 |
| ISSN | 2023 SCImago Journal Rankings: 1.620 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kudoh, Shunsuke | - |
| dc.contributor.author | Komura, Taku | - |
| dc.contributor.author | Ikeuchi, Katsushi | - |
| dc.date.accessioned | 2020-10-12T08:06:11Z | - |
| dc.date.available | 2020-10-12T08:06:11Z | - |
| dc.date.issued | 2006 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 2661-2666 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/288909 | - |
| dc.description.abstract | We propose a method of maintaining balance for a human-like character against large perturbations. The method enables a human-like model to maintain its balance with active whole-body motion, such as rotating its arms, bending down, and taking a step, if necessary. First, we capture the human motions of maintaining balance and abstract essential mechanisms from these motions. Next, we construct a model of maintaining balance that has a simple structure, such as an inverted pendulum. This model has two modes of maintaining balance: keeping the feet on the ground, and stepping. In this paper, the stepping mode is mainly described. Finally, we generate whole-body motion based on the model against several perturbations, and we discuss the validity of our method. © 2006 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.title | Stepping motion for a human-like character to maintain balance against large perturbations | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.2006.1642103 | - |
| dc.identifier.scopus | eid_2-s2.0-33845665894 | - |
| dc.identifier.volume | 2006 | - |
| dc.identifier.spage | 2661 | - |
| dc.identifier.epage | 2666 | - |
| dc.identifier.issnl | 1050-4729 | - |