Foot Placement Indicator for Balance of Planar Bipeds with Point Feet. (17th May 2013)
- Record Type:
- Journal Article
- Title:
- Foot Placement Indicator for Balance of Planar Bipeds with Point Feet. (17th May 2013)
- Main Title:
- Foot Placement Indicator for Balance of Planar Bipeds with Point Feet
- Authors:
- van Zutven, Pieter
Nijmeijer, Henk - Abstract:
- Abstract If humanoid robots are to be used in society, they should be able to maintain their balance. Knowing where to step is crucially important. In this paper we contribute an algorithm that can compute the foot step location such that bipedal balance is maintained for planar bipeds with point feet and an arbitrary number of non-massless links on a horizontal and flat ground. The algorithm is called the foot placement indicator (FPI) and it extends the foot placement estimator (FPE). The FPE uses an inverted pendulum model to capture the dynamics of a humanoid robot, whereas the FPI deals with multi-body models with distributed masses. This paper analyses equilibrium sets and the stability of planar bipeds with point feet. The algorithm uses conservation of energy throughout the step, taking into account the instantaneous impact dynamics at foot strike. A simulation case study on a five-link planar biped shows the effectiveness of the FPI.
- Is Part Of:
- International journal of advanced robotic systems. Volume 10:Number 5(2013)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 10:Number 5(2013)
- Issue Display:
- Volume 10, Issue 5 (2013)
- Year:
- 2013
- Volume:
- 10
- Issue:
- 5
- Issue Sort Value:
- 2013-0010-0005-0000
- Page Start:
- Page End:
- Publication Date:
- 2013-05-17
- Subjects:
- Humanoid Robots -- Bipedal Balance -- Foot Placement
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.5772/56523 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 24517.xml