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- Publisher Website: 10.1109/ROBOT.2005.1570405
- Scopus: eid_2-s2.0-33846158148
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Conference Paper: A feedback controller for biped humanoids that can counteract large perturbations during gait
| Title | A feedback controller for biped humanoids that can counteract large perturbations during gait |
|---|---|
| Authors | |
| Issue Date | 2005 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 1989-1995 How to Cite? |
| Abstract | In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in real-time. ©2005 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/288910 |
| ISSN | 2023 SCImago Journal Rankings: 1.620 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Komura, Taku | - |
| dc.contributor.author | Leung, Howard | - |
| dc.contributor.author | Kudoh, Shunsuke | - |
| dc.contributor.author | Kuffner, James | - |
| dc.date.accessioned | 2020-10-12T08:06:11Z | - |
| dc.date.available | 2020-10-12T08:06:11Z | - |
| dc.date.issued | 2005 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2005, v. 2005, p. 1989-1995 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/288910 | - |
| dc.description.abstract | In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in real-time. ©2005 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.title | A feedback controller for biped humanoids that can counteract large perturbations during gait | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.2005.1570405 | - |
| dc.identifier.scopus | eid_2-s2.0-33846158148 | - |
| dc.identifier.volume | 2005 | - |
| dc.identifier.spage | 1989 | - |
| dc.identifier.epage | 1995 | - |
| dc.identifier.issnl | 1050-4729 | - |