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ICRA
2005
IEEE

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

10 years 3 months ago
A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait
— 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 realtime.
Taku Komura, Howard Leung, Shunsuke Kudoh, James K
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Taku Komura, Howard Leung, Shunsuke Kudoh, James Kuffner
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