Abstract / Description of output
This paper studies the effects of hand contact force on the stability of a planar humanoid robot while translational perturbations are applied to its foot. A momentum based controller is used to control the robot's motion during the perturbations. Simulation results show that the displacements of the center of pressure (CoP) of the foot decrease substantially when there is a supportive contact between the hand and the environment. The simulation results of the CoP displacements and handle forces also conform with the results of the experiments on human subjects with different positions of the hand contact. This conformity shows that the momentum based controller adequately models human behaviour in contact with the environment during a balancing motion.
| Original language | English |
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| Title of host publication | 2014 IEEE-RAS International Conference on Humanoid Robots |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 348-353 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-4799-7174-9 |
| ISBN (Print) | 978-1-4799-7175-6 |
| DOIs | |
| Publication status | Published - 18 Nov 2014 |