IEEE - Institute of Electrical and Electronics Engineers, Inc. - Reactive stepping to prevent falling for humanoids

2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)

Author(s): Morisawa, M. ; Harada, K. ; Kajita, S. ; Kaneko, K. ; Sola, J. ; Yoshida, E. ; Mansard, N. ; Yokoi, K. ; Laumond, J.-P.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Paris, France, France
Conference Date: 7 December 2009
Page(s): 528 - 534
ISBN (CD): 978-1-4244-4588-2
ISBN (Paper): 978-1-4244-4597-4
DOI: 10.1109/ICHR.2009.5379522
Regular:

This paper proposes a reactive motion controller for a humanoid robot to maintain balance against a large disturbance, by relatively stepping. A reactive step is performed by the robot, so that it... View More

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