Online walking pattern generation for push recovery and minimum delay to commanded change of direction and speed

@article{Urata2012OnlineWP,
  title={Online walking pattern generation for push recovery and minimum delay to commanded change of direction and speed},
  author={Junichi Urata and Koichi Nishiwaki and Yuto Nakanishi and Kei Okada and Satoshi Kagami and Masayuki Inaba},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={3411-3416}
}
A walking biped robot is required to change its walking direction and speed with minimal delay and not to tip off even when subjected to an unexpected external force. A major drawback of Zero Moment Point (ZMP) based online walking pattern generation methods is that arbitrary ZMPs cannot be achieved without divergence of the Conter of Mass (CoM). In this paper, we propose a new online walking trajectory generation method that utilizes nondivergence conditions of ZMP-CoM in a successive manner… CONTINUE READING
Highly Cited
This paper has 31 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 24 extracted citations

Dynamic gait transition between walking, running and hopping for push recovery

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) • 2017
View 5 Excerpts
Highly Influenced

Torque-Based Dynamic Walking - A Long Way from Simulation to Experiment

2018 IEEE International Conference on Robotics and Automation (ICRA) • 2018
View 1 Excerpt

2D omnidirectional navigation of a biped robot based on an egocentric orbit following

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) • 2017

Bipedal robot push recovery control mimicking human reaction

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC) • 2016
View 1 Excerpt

References

Publications referenced by this paper.
Showing 1-10 of 12 references

Online decision of foot placement using singular LQ preview regulation

2011 11th IEEE-RAS International Conference on Humanoid Robots • 2011
View 5 Excerpts

Combining suppression of the disturbance and reactive stepping for recovering balance

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2010
View 1 Excerpt

Design of high torque and high speed leg module for high power humanoid

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems • 2010
View 2 Excerpts

Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator

2009 IEEE International Conference on Robotics and Automation • 2009
View 1 Excerpt

Nitzburg, Field Studies of Pedestrian Walking Speed and Start-Up Time, Transportation Research Record: Journal of the Transportation

Richard L. Knoblauch, Martin T. Pietrucha, Marsha
Research Board, Volume • 1996

Lipschitzian optimization without the Lipschitz constant

D.R.C.D. Perttunen Jones, B. R. Stuckman
Joural of Optimization Theory and Applications, • 1993

Explicit Solution to the Singular LQ Regulation Problem

Y. Peng, M. Kinnaert
IEEE Transactions on Automatic Control, • 1992

Similar Papers

Loading similar papers…