Omni Planar Direction Push and Recovery System in Mimicking Human Actions for Humanoid Robotics
Date Issued
2016
Date
2016
Author(s)
Hung, Wen-Chien
Abstract
With the rapid development of the field of robotics, the research field of the biped and humanoid robots has increase extensively. The bipedal and humanoid robots require higher elasticity to move in the complex environment than other kinds of robot. Howev-er, unlike wheeled robots and multi-legged robots, maintaining the bipedal and human-oid robots walking stability is a big challenge. The static balancing and dynamic balanc-ing problems are the most important problem in the walking stability issues. As humanoid robots begin to walk away from laboratory, start entering to the gen-eral environments. Humanoid robot is inevitable to bump into other things or human be-ings. When these unpredictable collisions occur, robot having strategy to avoid falling down and maintain balance is necessary. Consequently, the push-recovery issue has a high priority in the research fields of the humanoid robots. The research purpose of this thesis is to fulfill dynamic balancing walking by inte-grating the push-recovery system into the walking pattern generator for the humanoid robots. This system is based on the idea of the human’s behaviors when facing the ex-ternal push. In this research, we integrate the mimicking human actions push-recovery system into the walking pattern generator of humanoid robots to deal with the unpredictable external perturbations. This research consists of the theoretical derivations of humanoid robot system, push-recovery system architecture and experimental results analysis. The push-recovery system is realized on the humanoid robots in our NTU-iCeiRA laboratory. Hope that this research would contribute to the academic and practical applications in the field of humanoid robot push-recovery communities.
Subjects
humanoid robot
push-recovery system
walking pattern generator
Type
thesis
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