By Topic

Continuous steps toward humanoid push recovery

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Wentao Mao ; Div. of Electr. Eng., KAIST, Daejeon, South Korea ; Jeong-Jung Kim ; Ju-Jang Lee

Unlike animals and humans who are very adept at push recovery, humanoid robots push recovery is difficult for its high dimensional, non-linear, and hybrid features. Existed research results such like Capture points, provide several methods to recover from the push. However when a high magnitude push applies to the humanoid, existed methods are not enough to recover the robot. Towards this problem, Continuous Steps method is proposed to solve this problem in this paper. We present simulation of a simple humanoid that can recover from a high magnitude push by using continuous steps. Future work involves extending the modeling to arbitrary direction pushes and applying the method to the real humanoid robots.

Published in:

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Date of Conference:

5-7 Aug. 2009