NDLI: Switching control and quick stepping motion generation based on the maximal CPI sets for falling avoidance of humanoid robots

Content Provider	IEEE Xplore Digital Library
Author	Yamamoto, K. Nakamura, Y.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Science and Engineering, Tokyo TECH, 2-12-1 Oookayama, Megutro-ku, 152-8552, Japan (Yamamoto, K.) \|\| Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan (Nakamura, Y.)
Abstract	Humanoid robots should be able to stand and walk in the presence of external disturbances. This paper addresses the robustness of a humanoid robot to unknown disturbances. Applying the maximal CPI set, it becomes possible to consider the physical constraint explicitly in the COG-ZMP inverted pendulum model control. In our previous research, the convergence speed of COG was improved by applying the switching control based on the maximal CPI set to the stabilization control assuming the contact region is constant. This paper presents updating calculation method of the maximal CPI set when the contact region changes, and the authors propose a falling avoidance control as an application of it. Detecting the stepping necessity based on the maximal CPI set enables to unify the upright position stabilization and stepping motion for falling avoidance. The validity of the proposed method is verified with experiments.
Starting Page	3292
Ending Page	3297
File Size	676665
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509824
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Humanoid robots Convergence Motion detection Legged locomotion Robotics and automation Automatic generation control Robustness Humans Robust control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots

Humanoid teleoperation for whole body manipulation

Feasible pattern generation method for humanoid robots

Visually-Guided Grasping while Walking on a Humanoid Robot

General ZMP Preview Control for Bipedal Walking

Ankle and hip balance control strategies with transitions

Stepping over obstacles with humanoid robots

Development of walking manipulator with versatile locomotion

Humanoid robot HRP-2

Switching control and quick stepping motion generation based on the maximal CPI sets for falling avoidance of humanoid robots

Similar Documents

Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots

Humanoid teleoperation for whole body manipulation

Feasible pattern generation method for humanoid robots

Visually-Guided Grasping while Walking on a Humanoid Robot

General ZMP Preview Control for Bipedal Walking

Ankle and hip balance control strategies with transitions

Stepping over obstacles with humanoid robots

Development of walking manipulator with versatile locomotion

Humanoid robot HRP-2

Switching control and quick stepping motion generation based on the maximal CPI sets for falling avoidance of humanoid robots