Spherical foot placement estimator for humanoid balance control and recovery

Brandon J. Dehart, Rob Gorbet, Dana Kulic

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

Abstract

One of the main challenges of bipedal gait is to avoid falling due to unknown disturbances. Compensating for these disturbances in bipeds is often achieved by leaning or stepping. In this work, the Spherical Foot Placement Estimator (SFPE) is introduced, which uses the biped's current kinematics and dynamics to predict if a step is needed, and if so where to step, to restore balance in 3D. An example of a controller using the SFPE is shown, which augments an existing optimal controller with both leaning and stepping: SFPE-based feedback is used to generate a desired momentum for momentum-based leaning while the SFPE point is used as a control reference for stepping. The new estimator outperforms existing balance criteria by providing both recovery step location prediction and momentum objectives with smooth dynamics.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA 2018)
EditorsPeter Corke, Nancy M. Amato, Megan Emmons, Yoshihiko Nakamura, Markus Vincze
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1747-1754
Number of pages8
ISBN (Electronic)9781538630815, 9781538630808
ISBN (Print)9781538630822
DOIs
Publication statusPublished - 10 Sep 2018
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2018 - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/
https://ieeexplore.ieee.org/xpl/conhome/8449910/proceeding (Proceedings)

Publication series

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

Conference

ConferenceIEEE International Conference on Robotics and Automation 2018
Abbreviated titleICRA 2018
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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