An experimental study on a learning-based approach for the push recovery of NAO humanoid robot

2017 ◽  
Author(s):  
Milad Ghorbani ◽  
Fatemeh Kakavandi ◽  
Mehdi Tale Masouleh
Keyword(s):  
Experimental Study ◽  
Humanoid Robot ◽  
Push Recovery

scholarly journals Push Recovery of a Position-Controlled Humanoid Robot Based on Capture Point Feedback Control

2017 ◽  
Author(s):  
Milad Shafiee-Ashtiani ◽  
Aghil Yousefi-Koma ◽  
Reihaneh Mirjalili ◽  
Hessam Maleki ◽  
Mojtaba Karimi
Keyword(s):  
Feedback Control ◽  
Humanoid Robot ◽  
Push Recovery ◽  
Capture Point

Closed-Loop Push Recovery for an Inexpensive Humanoid Robot

2018 ◽  
pp. 233-244 ◽  
Author(s):  
Amirhossein Hosseinmemar ◽  
Jacky Baltes ◽  
John Anderson ◽  
Meng Cheng Lau ◽  
Chi Fung Lun ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Closed Loop ◽  
Push Recovery

A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers

2013 ◽  
Author(s):  
E. Spyrakos-Papastavridis ◽  
G. A. Medrano-Cerda ◽  
N. G. Tsagarakis ◽  
J. S. Dai ◽  
D. G. Caldwell
Keyword(s):  
Humanoid Robot ◽  
Recovery Strategy ◽  
Push Recovery

PUSH RECOVERY THROUGH WALKING PHASE MODIFICATION FOR BIPEDAL LOCOMOTION

2013 ◽  
Vol 10 (03) ◽  
pp. 1350022 ◽  
Author(s):  
ALBERTUS HENDRAWAN ADIWAHONO ◽  
CHEE-MENG CHEW ◽  
BINGBING LIU
Keyword(s):  
Humanoid Robot ◽  
Dynamic Environment ◽  
Bipedal Locomotion ◽  
Bipedal Robot ◽  
Dynamic Simulations ◽  
Phase Modification ◽  
Push Recovery ◽  
Course Of Action ◽  
Recovery Scheme

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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