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• W2908093869 abstract "For real-world applications, a biped robot should maintain stable walking when subjected to sudden external disturbances. Typically, unexpected changes to body acceleration indicate that a robot is experiencing an external disturbance. This paper presents a biped walking controller for rapid response to large external disturbances. First, a novel adjustment algorithm for foot placement is proposed. Here, zero-moment point variations are mapped onto the new foothold based on calculations from changes in body acceleration. Second, a novel impact reduction control for foot landing is presented based on abating body vibrations. To avoid false detection triggers and excessive foothold adjustment, a rapid disturbance detection method is established using the body acceleration derivative. Finally, the effectiveness of the proposed methods is validated under simulations and in experiments with an actual biped robot." @default.
• W2908093869 created "2019-01-11" @default.
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• W2908093869 date "2019-04-01" @default.
• W2908093869 modified "2023-10-12" @default.
• W2908093869 title "Disturbance Rejection for Biped Walking Using Zero-Moment Point Variation Based on Body Acceleration" @default.
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• W2908093869 doi "https://doi.org/10.1109/tii.2018.2890195" @default.
• W2908093869 hasPublicationYear "2019" @default.
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