Development of Push|Recovery control system for humanoid robots ...

Development of Push-Recovery control system for humanoid robots ...

A push-recovery controller has been designed using DQN and DDQN from deep reinforcement learning algorithms. The application was carried out based on the ankle ...

Development of Push-Recovery control system for humanoid robots ...

pushes to be applied from different directions and different forces. ... learning was faster in the DDQN algorithm. ... factured as a head, body, ...

Development of Push-Recovery control system for humanoid robots ...

Semantic Scholar extracted view of "Development of Push-Recovery control system for humanoid robots using deep reinforcement learning" by Emrah Aslan et al.

Learning-full-body-push-recovery-control-for-small-humanoid-robots ...

sensors, and it is difficult to design the high level controller without ... Takenaka, “The control system for the honda humanoid robot,” Age. Ageing, vol.

(Open Access) Development of Push-Recovery control system for ...

TL;DR: In this paper , a push-recovery control system for bipedal humanoid robots is presented, which consists of three strategies: ankle strategy, hip strategy ...

Push Recovery for Humanoid Robot in Dynamic Environment and ...

In this paper we are generating a control system and push recovery controller for humanoid robot walking. We apply different kind of pushes to humanoid robot ...

Push Recovery for Humanoid Robot in Dynamic Environment and ...

essential for humanoid robot to maintain balance. In this paper we are generating a control system and push recovery controller for humanoid robot walking.

Push Recovery Control for Humanoid Robot Using Reinforcement ...

... Also, in [19], the external disturbance is considered to pass through the robot's CoM, which is a special type of disturbance that does not create a moment ...

Study of Humanoid Push Recovery Based on Experiments - arXiv

develop a reactive controller for a bipedal humanoid robot which we are ... movement," Control, Automation, Robotics and Embedded Systems. (CARE), 2013 ...

Push Recovery Control for Force-Controlled Humanoid Robots

This thesis aims to advance the state of the art in force-based control. 5. Page 16. for complex systems by developing such algorithms. For a humanoid robot to ...

Study of humanoid Push recovery based on experiments - IEEE Xplore

Hence the model now can provide greater insight to push recovery mechanism and can be used for determining push recovery strategy for humanoid robots. The paper ...

Humanoid robot push recovery through walking phase modification

In this paper we propose an overall control system and a push recovery controller for humanoid robot walking. When the robot is pushed, the algorithm will ...

Push Recovery of a Position-Controlled Humanoid Robot Based on ...

To do so, a simple and efficient feedback controller is developed for push recovery without the need of torque sensor at each joint or force/ ...

Humanoid Push Recovery - CMU School of Computer Science

we develop a practical controller using optimal control that ... (a) The phase plot shows how the system can be driven back into the stable region using optimal ...

Push Recovery Control Based on Model Predictive Control of ...

To maintain the balance of the impacted robot, three strategies are proposed inspired by the human response to external disturbance, including ...

[PDF] Humanoid push recovery | Semantic Scholar

An overall control system and a push recovery controller for humanoid robot ... A dynamic virtual model controller is developed to linearize the biped, and ...

Partition-Aware Stability Control for Humanoid Robot Push ...

For successful push recovery in response to perturbations, a humanoid robot must select an appropriate stabilizing action. Existing approaches are limited ...

A survey on control of humanoid fall over - ScienceDirect

Humanoid robot operation requires balancing to prevent failures, such as fall over. This is a crucial task in legged robots and thus several researchers are ...

A Comprehensive Survey of Push Recovery Techniques for ...

Therefore, a push recovery control system that enables these robots to preserve stability while executing their intended tasks must be developed ...

On the Emergence of Whole-body Strategies from Humanoid Robot ...

On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning ; DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid ...