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Unified Push Recovery Fundamentals: Inspiration from Human Study

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Original languageEnglish
Title of host publicationProceedings of the International Conference on Robotics and Automation (ICRA) 2020
Number of pages8
Publication statusAccepted/In press - 22 Jan 2020
Event2020 International Conference on Robotics and Automation - Virtual conference, France
Duration: 31 May 202031 Aug 2020
https://www.icra2020.org/

Conference

Conference2020 International Conference on Robotics and Automation
Abbreviated titleICRA 2020
CountryFrance
CityVirtual conference
Period31/05/2031/08/20
Internet address

Abstract

Currently for balance recovery, humans outperform humanoid robots that used hand-designed controllers. This study aims to close this gap by finding control principles which are shared across all recovery strategies. We do this by formulating experiments to test human strategies and quantify criteria for identifying strategies. A minimum jerk control principle is shown to accurately recreate human CoM recovery trajectories. Using this principle, we formulate a Model-Predictive Control (MPC) for the use in floating base systems (eg legged robots). The feasibility of generated motions from the MPC for implementation on the real robot is then validated using an Inverted Pendulum Model. Finally, we demonstrate improved capability over humans by tuning the parameters for time-optimal recovery performance.

Event

2020 International Conference on Robotics and Automation

31/05/2031/08/20

Virtual conference, France

Event: Conference

ID: 135418218