Humanoid robot push recovery through walking phase modification

Adiwahono, Albertus Hendrawan; Chew, Chee-Meng; Huang, Weiwei; Dau, Van Huan

doi:10.1109/ramech.2010.5513130

Cited by 11 publications

(5 citation statements)

References 7 publications

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“…slopes, stepping fields) the gait can become unstable (Chen & Byl, 2012). The use of phase modification based on gyroscope data has been shown to mitigate this problem and allow the robot to walk across small changes in elevation without falling over (Baltes & Lam, 2004;McGrath et al, 2004;Adiwahono et al, 2010;Yi et al, 2011). (Sugihara et al, 2002).…”

Section: Related Workmentioning

confidence: 99%

Active balancing and turning for alpine skiing robots

Iverach-Brereton

Postnikoff

Baltes

et al. 2016

The Knowledge Engineering Review

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This paper presents our preliminary research into the autonomous control of an alpine skiing robot. Based on our previous experience with active balancing on difficult terrain and developing an ice-skating robot, we have implemented a simple control system that allows the humanoid robot Jennifer to steer around a simple alpine skiing course, brake, and actively control the pitch and roll of the skis in order to maintain stability on hills with variable inclination.The robot steers and brakes by using the edges of the skis to dig into the snow, by inclining both skis to one side the robot can turn in an arc. By rolling the skis outward and pointing the toes together the robot creates a snowplough shape that rapidly reduces its forward velocity.To keep the skis in constant contact with the hill we use two independent proportional-integral-derivative (PID) controllers to continually adjust the robot’s inclination in the frontal and sagittal planes.Our experiments show that these techniques are sufficient to allow a small humanoid robot to alpine ski autonomously down hills of different inclination with variable snow conditions.

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Section: Related Workmentioning

confidence: 99%

Active balancing and turning for alpine skiing robots

Iverach-Brereton

Postnikoff

Baltes

et al. 2016

The Knowledge Engineering Review

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“…The stability condition of a robot is dependent on the initial position and velocity of the COM of the robot in many push recovery analysis. 1,4,5 COM motion estimation was used by Stephens 1 and he defined three regions for push recovery based on the initial position and velocity of the COM. According to these conditions one can select a suitable strategy to recover the stability of the robot.…”

Section: Position/velocity Estimation Of the Commentioning

confidence: 99%

“…Feet-force sensors are the other type of sensors which are installed under the feet of the robot. 4,5 Feet-force sensors can help to evaluate the position of the COM by estimating the ground reaction force or estimating the center of the pressure (COP). Feet-force sensors are not adapted for walking on a rough terrain since the sensors may not completely contact with the floor.…”

Section: Introductionmentioning

confidence: 99%

A novel approach for humanoid push recovery using stereopsis

2013

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SUMMARYPush recovery is one of the most challenging problems for the current humanoid robots. The importance of push recovery can be well observed in the real environment. The critical issue for a humanoid is to maintain and recover its balance against any disturbances. In this research a new stereovision approach is proposed to estimate the robot deviation angle and consequently, the movement of center of mass of the robot is calculated. Then, two novel strategies have been devised to recover the balance of the humanoid which are called “knee strategy” and “knee-hip strategy.” Also, a mathematical model validates the efficiency of the proposed strategies as demonstrated in the paper. Experiments have been conducted on a humanoid robot and demonstrate that the predicted robot deviation angle, using stereovision technique, converges to the actual deviation angle. Stable regions of proposed strategies illustrate that the humanoid can recover its stability in a robust manner. Vision-based estimation also shows a higher correlation to actual deviation angle and a lower fluctuation compared with the output of the acceleration sensor.

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“…Generally, an impulsive push may cause a biped robot to deviate from its original position and velocity. Researchers have been studying methods to enable robots to recover their original states [1], [2], [3], [4], [5], [20], [21]. Human-inspired balancing strategies, an ankle strategy and a hip strategy, have been variously introduced to address stabilization control [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

Zhou¹,

Meng²,

Huang³

et al. 2014

Intelligent Automation & Soft Computing

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Biped robots are expected to keep stability after experiencing unknown disturbances which often exist in human daily environments. This paper presents a novel method to reject omnidirectional disturbances by optimizing the accelerations of the floating base of the robot. The optimized accelerations keep the desired external forces within their constraints and generate coordinated whole-body motion to reject disturbances from all directions. The effectiveness of the proposed method is confirmed by simulations with disturbance-rejection scenarios.

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Humanoid robot push recovery through walking phase modification

Cited by 11 publications

References 7 publications

Active balancing and turning for alpine skiing robots

Active balancing and turning for alpine skiing robots

A novel approach for humanoid push recovery using stereopsis

Omnidirectional Disturbance Rejection for a Biped Robot by Acceleration Optimization

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