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Tip over avoidance control for biped robot

Published online by Cambridge University Press:  21 January 2009

Tang Qing ,
Xiong Rong  and
Chu Jian
Tang Qing
Affiliation:
State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China
Xiong Rong*
Affiliation:
State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China
Chu Jian
Affiliation:
State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China
*
*Corresponding author. E-mail: rxiong@iipc.zju.edu.cn
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Summary

This paper analyzes the stabilization problem from the energy point of view. Perturbations are detected by the gyros and categorized according to the constraints on the zero-moment point, energy, and walking pattern. Ankle torque is exerted to extend the linear inverted pendulum mode (LIPM). Compensation movement is computed according to the analysis on the energy of LIPM and the influence of disturbance to the energy. The experimental results from both the simulation and the physical robot not only proved effective but also explain various human reactions to disturbance in locomotion.

Keywords

StabilizationLIPMHumanoid robotCategorization of perturbations
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 883 - 889
Copyright
Copyright © Cambridge University Press 2009

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