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Backflilps Performed by Humanoid Robots Based on Extended Linear Inverted Pendulum Mode

Title
Backflilps Performed by Humanoid Robots Based on Extended Linear Inverted Pendulum Mode
Author
박종현
Keywords
Backflip; Humanoid Robot; Trajectory; Extended Linear Inverted Pendulum Mode
Issue Date
2012-09
Publisher
Elsevier
Citation
International Conference on Electromagnetic Field, Sep 2012, 45(22), P.505-510
Abstract
This paper proposes a method to realize a backip motion for humanoid robots. In each phase of the backip motion, the trajectory is planned. Besides, the Extended LinearInverted Pendulum Mode (E-LIPM) is newly proposed to generate angular momentum that is needed for turning the body of the robot. In landing, an Impedance control is used to absorb the impact from the ground. Computer simulations of a backip by a 7-DOF humanoid robot were performed, whose results show that the proposed method works well. This method is expected to be used for more complex motions of humanoid robots.
URI
https://www.sciencedirect.com/science/article/pii/S1474667016336606http://hdl.handle.net/20.500.11754/50002
ISBN
978-3-902823-11-3
ISSN
1474-6670
DOI
10.3182/20120905-3-HR-2030.00021
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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