4.4 Article

Perturbation rejection and active fall recovery for biped robots based on the capture point dynamics

Related references

Note: Only part of the references are listed.
Article Engineering, Mechanical

Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?

Daniel S. Williams et al.

Summary: This study presents a refined biped model with a finite-time, adaptive double support controller to improve disturbance rejection capabilities. It was found that in approximately half of the cases, the finite-time double support controller increased walking stability of the biped, but did not automatically increase disturbance rejection capabilities. Additionally, the timing and magnitude of perturbations can affect whether a finite-time double support period enhances stability.

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME (2021)

Article Chemistry, Multidisciplinary

A Disturbance Rejection Control Method Based on Deep Reinforcement Learning for a Biped Robot

Chuzhao Liu et al.

Summary: This study focuses on the disturbance rejection performance of biped robots during walking. By combining deep reinforcement learning algorithm with model ZMP control, the proposed method effectively reduces the probability of biped robots falling when subjected to external forces in the x-direction.

APPLIED SCIENCES-BASEL (2021)

Article Automation & Control Systems

Disturbance Rejection for Biped Walking Using Zero-Moment Point Variation Based on Body Acceleration

Zhangguo Yu et al.

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS (2019)

Article Biophysics

Gait modification when decreasing double support percentage

Daniel S. Williams et al.

JOURNAL OF BIOMECHANICS (2019)

Article Engineering, Mechanical

Predicted Step Viability: a stability criterion for biped gait

Luis Filipe Rossi et al.

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING (2019)

Article Automation & Control Systems

Bioinspired Control of Walking With Toe-Off, Heel-Strike, and Disturbance Rejection for a Biped Robot

Xuechao Chen et al.

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2017)

Proceedings Paper Engineering, Mechanical

Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation

Zhangguo Yu et al.

ROMANSY 21 - ROBOT DESIGN, DYNAMICS AND CONTROL (2016)

Article Engineering, Biomedical

Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

J. A. Gallego et al.

APPLIED BIONICS AND BIOMECHANICS (2012)

Article Automation & Control Systems

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

Benjamin Morris et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2009)

Article Neurosciences

Energy analysis of human stumbling: the limitations of recovery

AF Cordero et al.

GAIT & POSTURE (2005)

Article Biophysics

The condition for dynamic stability

AL Hof et al.

JOURNAL OF BIOMECHANICS (2005)

Article Computer Science, Cybernetics

Mechanical model of the recovery from stumbling

AF Cordero et al.

BIOLOGICAL CYBERNETICS (2004)

Article Automation & Control Systems

RABBIT: A testbed for advanced control theory

C Chevallereau et al.

IEEE CONTROL SYSTEMS MAGAZINE (2003)

Article Neurosciences

Multiple-step strategies to recover from stumbling perturbations

A Forner Cordero et al.

GAIT & POSTURE (2003)

Article Automation & Control Systems

Hybrid zero dynamics of planar biped walkers

ER Westervelt et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2003)

Article Automation & Control Systems

Asymptotically stable walking for biped robots: Analysis via systems with impulse effects

JW Grizzle et al.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2001)