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General information |
| Author |
Zutven, Pieter van; Nijmeijer, Henk |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
If humanoid robots are to be used in society,
they should be able to maintain their balance. Knowing
where to step is crucially important. In this paper we
contribute an algorithm that can compute the foot step
location such that bipedal balance is maintained for
planar bipeds with point feet and an arbitrary number of
non‐massless links on a horizontal and flat ground. The
algorithm is called the foot placement indicator (FPI) and
it extends the foot placement estimator (FPE). The FPE
uses an inverted pendulum model to capture the
dynamics of a humanoid robot, whereas the FPI deals
with multi‐body models with distributed masses. This
paper analyses equilibrium sets and the stability of planar
bipeds with point feet. The algorithm uses conservation
of energy throughout the step, taking into account the
instantaneous impact dynamics at foot strike. A
simulation case study on a five‐link planar biped shows
the effectiveness of the FPI. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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