Li, Z, Zhou, C orcid.org/0000-0002-6677-0855, Zhu, Q et al. (3 more authors) (2015) Active Control of Under-actuated Foot Tilting for Humanoid Push Recovery. In: Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IROS 2015, 28 Sep - 02 Oct 2015, Hamburg, Germany. IEEE , pp. 977-982. ISBN 978-1-4799-9994-1
Abstract
We propose a novel control framework to demonstrate a unique foot tilting maneuver based on ankle torque control for humanoid balance recovery. The framework consists of the variable impedance regulation at the center of mass of the robot based on the ankle torque control, the virtual stoppers to prevent over tilting of the feet, and the body attitude control. The scope of our paper focuses on the sagittal scenario as the first proof of concept on the balance recovery by means of active foot tilting without losing stability. Our study demonstrates the success of the control implementation for the humanoid push recovery and the feasibility of having actively controlled foot tilting. The experimental data are presented and analyzed.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | Foot; Robots; Torque; Impedance; Radio frequency; Mechanical energy; Torque control |
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: | 16 Jul 2019 09:46 |
Last Modified: | 16 Jul 2019 09:46 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/IROS.2015.7353489 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144468 |