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Gait Transition Between Standing and Falling Down for a Humanoid Robot

  • Libo MengEmail author
  • Marco Ceccarelli
  • Zhangguo Yu
  • Xuechao Chen
  • Qiang Huang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

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.

Keywords

Humanoid Robot Gait Transition Balance Control 

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Notes

Acknowledgment

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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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Libo Meng
    • 1
    • 2
    Email author
  • Marco Ceccarelli
    • 2
    • 3
  • Zhangguo Yu
    • 1
    • 2
  • Xuechao Chen
    • 1
    • 2
  • Qiang Huang
    • 1
    • 2
  1. 1.Beijing Institute of TechnologyBeijingChina
  2. 2.Beijing Advanced Innovation Center for Intelligent Robots and Systems, Bejing Institute of TechnologyBeijingChina
  3. 3.LARM2: Laboratory of Robot MechatronicsDept of Industrial Engineering, University of Rome Tor VergataRomaItaly

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