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Zero moment point (ZMP) preview controller is a widely adopted method for bipedal locomotion. However, for robots which are resource constrained or working in dynamic environments, simple reactive walk controllers are still favored as ZMP preview controllers have more control latency and are computationally more demanding. In this work, we present a hybrid walk controller that dynamically switches...
Bipedal humanoid robots will fall under unforeseen perturbations without active stabilization. Humans use dynamic full body behaviors in response to perturbations, and recent bipedal robot controllers for balancing are based upon human biomechanical responses. However these controllers rely on simplified physical models and accurate state information, making them less effective on physical robots...
Imitating the motion of a human operator is an intuitive and efficient way to make humanoid robots perform complex, human-like behaviors. With the help of recently introduced affordable and real-time depth sensors, the real time imitation of human behavior has become more feasible. However, due to their small footprint and high center of mass, humanoid robots are not inherently stable. The momentum...
During heavy work, humans utilize whole body motions in order to generate large forces. In extreme cases, exaggerated weight shifts are used to impart large impact forces. There have been approaches to design stable whole body impact motions based on precise dynamic models of the robot and the target object, but they have practical limitations as the uncertainty in the ensuing reaction forces can...
Bipedal walking in human environments is made difficult by the unevenness of the terrain and by external disturbances. Most approaches to bipedal walking in such environments either rely upon a precise model of the surface or special hardware designed for uneven terrain. In this paper, we present an alternative approach to stabilize the walking of an inexpensive, commercially-available, position-controlled...
Dynamic bipedal walking is susceptible to external disturbances and surface irregularities, requiring robust feedback control to remain stable. In this work, we present a practical hierarchical push recovery strategy that can be readily implemented on a wide range of humanoid robots. Our method consists of low level controllers that perform simple, biomechanically motivated push recovery actions and...
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