Humanoid Robot Push Recovery Strategy Based on CMP Criterion and Angular Momentum Regulation
Date Issued
2014
Date
2014
Author(s)
Chang, Che-Hsuan
Abstract
When a humanoid robot walks in the environment, it will face many disturbances, including unknown external push, contact forces on the body, and impact ground reaction forces. There are many unpredicted disturbance when a humanoid robot operates in a real environment. One of the most common disturbances is “push”. Different types of pushes should be handled with different strategies, and the strategy introduced in this thesis involves dealing with an external push from both the front and back of the robot in a sagittal direction. The proposed COG angular momentum regulator effectively counteracts external forces and disturbances by generating motion of the upper body via using the CMP criterion and the ground reaction forces as feedback. Furthermore, the online COG and footstep planning strategy address two different types of pushes that are also introduced. The overall push recovery strategy developed in this thesis shows the successful recovery of the robot from a push state.
Subjects
人型機器人
機器人推動回復
角動量穩定控制器
重心力矩樞軸
Type
thesis
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