Gait Transition Between Standing and Falling Down for a Humanoid Robot
In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.
KeywordsHumanoid Robot Gait Transition Balance Control
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This work was supported in part by the National Natural Science Foundation of China under Grant 61703043, 91748202, and 61533004, and in part by the 111 Project under Grant B08043.
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