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Foot Placement Indicator for Balance of Planar Bipeds with Point Feet : Indicatore della posizione del piede per l'equilibrio di bipedi piani con piedi puntiformi, in: International Journal of Advanced Robotic Systems

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Autor Zutven, Pieter van; Nijmeijer, Henk
Erschienen  InTech Open Access Publisher, 2013
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Kurzbeschreibung 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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no fulltext found International Journal of Advanced Robotic Systems
Autor: 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, [...]
Erschienen: 2004
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Dokumente: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=32269009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_32269009.html
PDF FaviconPDF  Foot Placement Indicator for Balance of Planar Bipeds with Point Feet
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
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Publikationsdatum 2013
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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