Foot placement indicator for balance of planar bipeds with point feet

P.W.M. Zutven, van, H. Nijmeijer

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

5 Citaten (Scopus)
133 Downloads (Pure)

Samenvatting

When humanoid robots are going to be used in society, they should be capable to maintain the balance. Knowing where to step appears to be crucially important to remain balanced. In this paper we contribute an algorithm for planar bipeds with point feet and an arbitrary number of non-massless links that can compute the foot step location such that bipedal balance is maintained. We call this algorithm the foot placement indicator (FPI). It is based on the foot placement estimator (FPE) and 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 off the FPI.
Originele taal-2Engels
Pagina's (van-tot)1-11
TijdschriftInternational Journal of Advanced Robotic Systems
Volume10
DOI's
StatusGepubliceerd - 2013

Vingerafdruk

Duik in de onderzoeksthema's van 'Foot placement indicator for balance of planar bipeds with point feet'. Samen vormen ze een unieke vingerafdruk.

Citeer dit