Humanoid Push Recovery

被引：173

作者：

Stephens, Benjamin ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

HUMANOIDS: 2007 7TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS | 2007年

关键词：

Dynamics; Robots; Robot dynamics;

D O I：

10.1109/ICHR.2007.4813931

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We extend simple models previously developed for humanoids to large push recovery. Using these simple models, we develop analytic decision surfaces that are functions of reference points, such as the center of mass and center of pressure, that predict whether or not a fall is inevitable. We explore three strategies for recovery: 1) using ankle torques, 2) moving internal joints, and 3) taking a step. These models can be used in robot controllers or in analysis of human balance and locomotion.

引用

页码：589 / 595

页数：7

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