Li, Z, Zhou, C orcid.org/0000-0002-6677-0855, Dallali, H et al. (2 more authors) (2015) Comparison Study of Two Inverted Pendulum Models for Balance Recovery. In: Proceedings of the 2014 IEEE-RAS International Conference on Humanoid Robots. 2014 IEEE-RAS International Conference on Humanoid Robots, 18-20 Nov 2014, Madrid, Spain. IEEE , pp. 67-72. ISBN 978-1-4799-7174-9
Abstract
The inverted pendulum model (IPM) represents better a human-like gait, however, its nonlinearity introduced by the impact during the change of support leg prevents its implementation. The analytic feature of the Linear Inverted Pendulum Model (LIPM) makes it widely applied for the bipedal gait control and balance recovery. We resolve the analytic solution issue for the IPM by using the principle orders in the Taylor series, and further prove the predictive properties of both models. Our theoretical and simulation studies quantitatively compare these two models on the prediction of the target foot placement and allowable swing time. The dynamic simulation and preliminary experiments validated the effectiveness of the IPM based foot placement control.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | Foot; Predictive models; Legged locomotion; Kinetic energy; Analytical models; Robot kinematics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 15 Jul 2019 15:50 |
Last Modified: | 15 Jul 2019 15:50 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/HUMANOIDS.2014.7041339 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144466 |