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

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review

78 Scopus Citations
View graph of relations

Author(s)

Related Research Unit(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers
Pages1989-1995
ISBN (Print)078038914X, 9780780389144
Publication statusPublished - Apr 2005

Publication series

Name
ISSN (Print)1050-4729

Conference

Title2005 IEEE International Conference on Robotics and Automation
PlaceSpain
CityBarcelona
Period18 - 22 April 2005

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.

Bibliographic 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).

Citation Format(s)

A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait. / Komura, Taku; Leung, Howard; Kudoh, Shunsuke; Kuffner, James.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers, 2005. p. 1989-1995 1570405.

Research output: Chapters, Conference Papers, Creative and Literary Works (RGC: 12, 32, 41, 45)32_Refereed conference paper (with ISBN/ISSN)peer-review