Castano, JA, Zhou, C orcid.org/0000-0002-6677-0855 and Tsagarakis, N (2019) From Non-Reactive to Reactive Walking in Humanoid Robots. In: IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 06-09 Nov 2018, Beijing, China. IEEE , pp. 664-669. ISBN 9781538672839
Abstract
In this paper we report the implementation and the experimental validation of a controller to provide reactive walking gait capabilities of bipedal robots during the execution of predefined walking patterns. The proposed method is a cascade controller design to cope with external disturbances and to increase the robot stability. IMU states are used as inputs to generate modifications of the feet and the Center of Mass trajectories of the predefined walking gait. The method increases the walking stability minimizing the errors due to small terrain variations and external disturbances. The effectiveness of the proposed controller is validated in simulation and in real implementation on the full-body humanoid robot COMAN+.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
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: | 25 Jul 2019 13:07 |
Last Modified: | 03 Sep 2019 09:20 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/HUMANOIDS.2018.8624952 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:148951 |