A Feedback Controller for Biped Humanoids that Can Counteract Large Perturbations During Gait

T. Komura, H. Leung, S. Kudoh, J. Kuffner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a new method for biped humanoids to compensate for large amounts of angular momentum induced by strong external perturbations applied to the body during gait motion. Such angular momentum can easily cause the humanoid to fall down onto the ground. We use an Angular Momentum inducing inverted Pendulum Model (AMPM), which is an enhanced version of the 3D linear inverted pendulum model to model the robot dynamics. Because the AMPM allows us to explicitly calculate the angular momentum generated by the ground reaction force, it is possible to calculate a counteracting motion that compensates for the angular momentum generated by external perturbations in real-time.
Original languageEnglish
Title of host publicationRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1989-1995
Number of pages7
ISBN (Print)0-7803-8914-X
DOIs
Publication statusPublished - 1 Apr 2005

Keywords

  • Adaptive control
  • Biological system modeling
  • Feedback
  • Feedforward systems
  • Hip
  • Humanoid robots
  • Humans
  • Joints
  • Legged locomotion
  • Robot control

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