PUSH RECOVERY THROUGH WALKING PHASE MODIFICATION FOR BIPEDAL LOCOMOTION

Push recovery is an important capability for a biped to safely maneuver in a real dynamic environment. In this paper, a generalized push recovery scheme to handle pushes from any direction that may occur at any walking phase is developed. Using the concept of walking phase modification, a series of systematic push recovery scheme that takes into account the severity of the push is presented. The result is that a bipedal robot could adapt to pushes according to the magnitude of disturbance and determine the best course of action. A number of push recovery experiments with different walking phases and push directions have been carried out using a 12-DOF humanoid robot model in dynamic simulations. The versatility and potential of the overall scheme is also demonstrated with the bipedal robot balancing on an accelerating cart.

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Humanoid robot push recovery through walking phase modification

2010 IEEE Conference on Robotics, Automation and Mechatronics ◽

10.1109/ramech.2010.5513130 ◽

2010 ◽

Cited By ~ 7

Author(s):

Albertus Hendrawan Adiwahono ◽

Chee-Meng Chew ◽

Weiwei Huang ◽

Van Huan Dau

Keyword(s):

Humanoid Robot ◽

Phase Modification ◽

Push Recovery

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Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

International Journal of Computers Communications & Control ◽

10.15837/ijccc.2017.3.2842 ◽

2017 ◽

Vol 12 (3) ◽

pp. 330 ◽

Cited By ~ 1

Author(s):

Paul Erick Mendez Monroy

Keyword(s):

Embedded System ◽

Humanoid Robot ◽

External Disturbance ◽

Computational Cost ◽

Dynamic Environment ◽

Motion Generation ◽

Recovery Strategy ◽

Push Recovery ◽

Neuro Fuzzy ◽

Recovery Approach

Push recovery is an essential requirement for a humanoid robot with the objective of safely performing tasks within a real dynamic environment. In this environment, the robot is susceptible to external disturbance that in some cases is inevitable, requiring push recovery strategies to avoid possible falls, damage in humans and the environment. In this paper, a novel push recovery approach to counteract disturbance from any direction and any walking phase is developed. It presents a pattern generator with the ability to be modified according to the push recovery strategy. The result is a humanoid robot that can maintain its balance in the presence of strong disturbance taking into account its magnitude and determining the best push recovery strategy. Push recovery experiments with different disturbance directions have been performed using a 20 DOF Darwin-OP robot. The adaptability and low computational cost of the whole scheme allows is incorporation into an embedded system.

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Push Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean

Proceedings of the Second International Conference on Information and Communication Technology for Competitive Strategies - ICTCS '16 ◽

10.1145/2905055.2905207 ◽

2016 ◽

Cited By ~ 4

Author(s):

Anubha Parashar ◽

Apoorva Parashar ◽

Somya Goyal ◽

Bharat Sahjalan

Keyword(s):

Humanoid Robot ◽

Dynamic Environment ◽

Push Recovery

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Push Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean

International Journal of Interactive Multimedia and Artificial Intelligence ◽

10.9781/ijimai.2016.425 ◽

2016 ◽

Vol 4 (2) ◽

pp. 29 ◽

Cited By ~ 3

Author(s):

Anubha Parashar ◽

Apoorva Parashar ◽

Somya Goyal

Keyword(s):

Humanoid Robot ◽

Dynamic Environment ◽

Push Recovery

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BIO-INSPIRED LOCOMOTION CONTROL WITH COORDINATION BETWEEN NEURAL OSCILLATORS

International Journal of Humanoid Robotics ◽

10.1142/s0219843609001929 ◽

2009 ◽

Vol 06 (04) ◽

pp. 585-608 ◽

Cited By ~ 9

Author(s):

WEIWEI HUANG ◽

CHEE-MENG CHEW ◽

YU ZHENG ◽

GEOK-SOON HONG

Keyword(s):

Humanoid Robot ◽

Pattern Generator ◽

Neural Oscillator ◽

Bipedal Locomotion ◽

Bipedal Robot ◽

Locomotion Control ◽

Neural Oscillators ◽

Control Signals ◽

The Difference ◽

External Forces

Central Pattern Generator (CPG) is used in bipedal locomotion control to provide the basic rhythm signal for actuators. Generally, the CPG is composed of many neural oscillators coupled together. In this paper, the coordination between neural oscillators in CPG is studied to achieve robust rhythm motions. By using the entrainment property of the neural oscillator, we develop a method which uses the difference between oscillator's output and desired output to adjust the inner states of neural oscillators. In the simulation, a CPG structure with coordination between neural oscillators is used to control a 2D bipedal robot. The robot can walk continuously when several external forces are applied on the robot during walking. The method is also implemented on our humanoid robot NUSBIP-III ASLAN for the test of walking forward. With the coordination between neural oscillators, the CPG generated rhythmic and robust control signals which enable the robot to walk forward stably.

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DESIGN AND SIMULATION OF A 1-DOF ANTHROPOMORPHIC CLUTCHED ARM FOR HUMANOID ROBOTS

International Journal of Humanoid Robotics ◽

10.1142/s0219843610002027 ◽

2010 ◽

Vol 07 (01) ◽

pp. 157-182 ◽

Cited By ~ 6

Author(s):

HAO GU ◽

MARCO CECCARELLI ◽

GIUSEPPE CARBONE

Keyword(s):

Humanoid Robot ◽

Humanoid Robots ◽

Robot Arm ◽

Dynamic Simulations ◽

Suitable Combination ◽

User Friendly

In this paper, problems for an anthropomorphic robot arm are approached for an application in a humanoid robot with the specific features of cost oriented design and user-friendly operation. One DOF solution is proposed by using a suitable combination of gearing systems, clutches, and linkages. Models and dynamic simulations are used both for designing the system and checking the operation feasibility.

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