2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) 2016
DOI: 10.1109/humanoids.2016.7803370
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Omnidirectional bipedal walking with direct fused angle feedback mechanisms

Abstract: An omnidirectional closed-loop gait based on the direct feedback of orientation deviation estimates is presented in this paper. At the core of the gait is an open-loop central pattern generator. The orientation feedback is derived from a 3D nonlinear attitude estimator, and split into the relevant angular deviations in the sagittal and lateral planes using the concept of fused angles. These angular deviations from expected are used by a number of independent feedback mechanisms, including one that controls tim… Show more

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Cited by 18 publications
(34 citation statements)
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“…The physical response of the robot to such disturbances can be seen in an adjoining video. 2 In Fig. 4a, it can be observed that the tilt phase corresponds closely to the expected waveforms, until a large diagonal push disturbs the robot.…”
Section: Resultsmentioning
confidence: 57%
See 4 more Smart Citations
“…The physical response of the robot to such disturbances can be seen in an adjoining video. 2 In Fig. 4a, it can be observed that the tilt phase corresponds closely to the expected waveforms, until a large diagonal push disturbs the robot.…”
Section: Resultsmentioning
confidence: 57%
“…Maximum forwards walking speed 2 https://youtu.be/spFqqktZ1s4 tests were performed over a 4 m distance with a 1 m run-up. A maximum mean velocity of 45.7 cm/s was achieved, while with [2], 30.5 cm/s was achieved. 3 Sets of 20 pushes in a random direction were also simulated for a robot walking in place, with various different push strengths.…”
Section: Resultsmentioning
confidence: 88%
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