Abstract
This paper examines the case of a bipedal robot under an external impact along the axis of the two supporting feet. The dynamics of the robot is modelled using the 3-Mass Linear Inverted Pendulum Model. The model shows that, for impacts below a given threshold, the robot recovers naturally and no corrective action is required. For larger, destabilising impacts, this paper described how to calculate a single or a sequence of corrective steps. The key information used for the calculations is the initial velocity generated by the impact. The behaviour of the model for various initial configurations and impact parameters is illustrated by simulations.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsNotes
References
Buczek, F.L., Cooney, K.M., Walker, M.R., Rainbow, M.J., Concha, M.C., Sanders, J.O.: Performance of an inverted pendulum model directly applied to normal human gait. Clin. Biomech. 21(3), 288–296 (2006)
Bugmann, G.: Joint torques and velocities in a 3-mass linear inverted pendulum model of bipedal gait. In: Dixon, C., Tuyls, K. (eds.) TAROS 2015. LNCS, vol. 9287, pp. 82–93. Springer, Cham (2015). doi:10.1007/978-3-319-22416-9_10
Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H.: The 3d linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. In: Proceedings of 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 239–246. IEEE (2001)
Yunping, L., Lipeng, W., Ping, M., Kai, H.: Stability analysis of bipedal robots using the concept of Lyapunov exponents. Math. Prob. Eng. 2013 (2013). Article ID 546520, 4 pages
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Wallbridge, C.D., Bugmann, G. (2017). Recovery of a Humanoid Robot from a Destabilising Impact. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_3
Download citation
DOI: https://doi.org/10.1007/978-3-319-64107-2_3
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-64106-5
Online ISBN: 978-3-319-64107-2
eBook Packages: Computer ScienceComputer Science (R0)