A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Taku Komura; Howard Leung; Shunsuke Kudoh; James Kuffner

doi:10.1109/ROBOT.2005.1570405

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

Taku Komura
, Howard Leung
, Shunsuke Kudoh
, James Kuffner

Department of Computer Science

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

86 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Publisher	IEEE
Pages	1989-1995
ISBN (Print)	078038914X, 9780780389144
DOIs	https://doi.org/10.1109/ROBOT.2005.1570405
Publication status	Published - Apr 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005

Publication series

Name
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Place	Spain
City	Barcelona
Period	18/04/05 → 22/04/05

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Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

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@inproceedings{de7a00e624564e71a9d9942b7b84cb5d,

title = "A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait",

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. {\textcopyright}2005 IEEE.",

author = "Taku Komura and Howard Leung and Shunsuke Kudoh and James Kuffner",

note = "Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).; 2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

year = "2005",

month = apr,

doi = "10.1109/ROBOT.2005.1570405",

language = "English",

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Komura, T, Leung, H, Kudoh, S & Kuffner, J 2005, A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570405, IEEE, pp. 1989-1995, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18/04/05. https://doi.org/10.1109/ROBOT.2005.1570405

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait. / Komura, Taku; Leung, Howard; Kudoh, Shunsuke et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. IEEE, 2005. p. 1989-1995 1570405.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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T1 - A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

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AU - Leung, Howard

AU - Kudoh, Shunsuke

AU - Kuffner, James

N1 - Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

PY - 2005/4

Y1 - 2005/4

N2 - 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.

AB - 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.

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M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 078038914X

SN - 9780780389144

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EP - 1995

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

PB - IEEE

T2 - 2005 IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

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