Push Recovery of a Biped in Different Stance Scenarios

Push recovery of a biped is more challenging on various geometrical surfaces, such as uneven terrains and inclined planes. These scenarios must ...

Push recovery of a biped robot is challenging because of the complexity of biped locomotion contributed by its straints.

Push Recovery of a Biped in Different Stance Scenarios

Successful push recoveries of a biped from different stance scenarios (single leg stance, double leg stance, and double leg stance at different heights) are ...

PUSH RECOVERY THROUGH WALKING PHASE MODIFICATION ...

recovery strategy to be adapted to different situations in a dynamic environment. ... when the biped enters push state and at stance foot exchange instances. To.

(PDF) Push Recovery Control for a Biped Robot Using DDPG ...

This paper proposes an approach to achieve perturbation counteraction and recovery during walking process for biped robots. The priority under ...

Bipedal walking and push recovery with a stepping strategy based ...

Suggested adjustments are added to the Cartesian 3LP gaits and converted into joint-space trajectories through inverse kinematics. Fixed and ...

Push Recovery by Stepping for Humanoid Robots with Force ...

Robots with stiff position control that expect small disturbances often solve footstep planning separately [13]. For situations when desired footstep locations ...

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

This paper focuses on the push-recovery problem of bipedal humanoid robots affected by external forces and pushes.

Push Recovery of a Quadrupedal Robot in the Flight Phase of a ...

bipedal robots in maintaining the balance of walking gaits. [37], [38] and push recovery scenarios [39], [40]. Another similar method is ...

Avoiding Obstacles during Push Recovery Using Real-Time Vision ...

Abstract: This paper introduces an obstacle-avoiding algorithm for bipedal robots, especially in push recovery situations. Typically, There are many ...

Cobalt - CoLab

... Push Recovery of a Biped in Different Stance Scenarios. Dan A., Saha S.K., K R.K., Sawant A., Bhullar G.S., Perween T. Q1. ASME. Journal of Mechanisms and ...

Balance and Walking Control for Biped Robot Based on Divergent ...

The push force is the maximum force in each direction with a fixed duration (0.1 s), and we can see that the robot could recover to its initial position within ...

Push Recovery of a Humanoid Robot Based on Model ... - arXiv

each term that can be regulated in different situations. This proposed cost function consider both rotational and linear dynamics of biped ...

Push-recovery stability of biped locomotion - ACM Digital Library

We identified four gait factors that affect the balance-recovery capabilities of both human and simulated walking. We found that crouch gait is significantly ...

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 ...

State-Space Characterization of Balance Capabilities in Biped ...

A multi-segment foot structure enables rich contact sequences as it interacts with the ground during walking, stepping, and push-recovery tasks.

A modular framework to generate robust biped locomotion

Despite many research efforts in developing biped locomotion ... a A snapshot of push recovery scenario; b the blue line represents ...

Lyapunov-Based Approach to Reactive Step Generation for Push ...

Abstract—This paper addresses reactive generation of step time and location of biped robots for balance recovery against a severe push.

Push Recovery Control for Force-Controlled Humanoid Robots

Several examples showing a wide range of tasks are presented. 5.2 COM ... Proposal of biped walking control based on robust hybrid position/force control.

Goal-Directed Biped Stepping and Push Recovery with Momentum ...

The desired step is controlled by generic task goals, namely step position and step duration, which allow characters to step in arbitrary directions with ...