Push recovery and online gait generation for 3D bipeds with the foot placement estimator

Brandon J. Dehart, Dana Kulić

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

1 Citation (Scopus)

Abstract

Humanoid robots have many potential applications in man-made environments, including performing hazardous tasks, assisting the elderly, and as a replacement for our aging workforce. However, generating a reliable gait for biped robots is challenging, particularly for dynamic gait and in the presence of unknown external disturbances, such as a bump from someone walking by. In this work, a 3D formulation of the Foot Placement Estimator is used with a high-level control strategy to achieve a dynamic gait capable of handling external disturbances. A key benefit of this approach is that the robot is able to respond in real time to external disturbances regardless of whether it is at rest or in motion. This strategy is implemented in simulation to control a 14-DOF lower-body humanoid robot being subjected to unknown external forces, both when at rest and while walking, and shown to generate stabilizing stepping actions.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation
EditorsWilliam R. Hamel
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1937-1942
Number of pages6
Volume3
ISBN (Electronic)9781479936854
ISBN (Print)9781479936861
DOIs
Publication statusPublished - 29 Sep 2014
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2014 - Hong Kong Convention and Exhibition Center, Hong Kong, China
Duration: 31 May 20147 Jun 2014
https://ieeexplore-ieee-org.ezproxy.lib.monash.edu.au/xpl/conhome/6895053/proceeding
http://www6.cityu.edu.hk/icra2014/index.htm

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE, Institute of Electrical and Electronics Engineers
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

ConferenceIEEE International Conference on Robotics and Automation 2014
Abbreviated titleICRA 2014
CountryChina
CityHong Kong
Period31/05/147/06/14
Internet address

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