ICRA 2012 Paper Abstract

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Paper TuC02.2

van Zutven, Pieter (Eindhoven University of Technology), Kostic, Dragan (Eindhoven University of Technology), Nijmeijer, Hendrik (Eindhoven University of Technology)

Foot Placement for Planar Bipeds with Point Feet

Scheduled for presentation during the Regular Session "Planning and Navigation of Biped Walking" (TuC02), Tuesday, May 15, 2012, 14:45−15:00, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Humanoid Robots, Humanoid and Bipedal Locomotion, Passive Walking

Abstract

When humanoid robots are going to be used in society, they should be capable to maintain the balance. Knowing where to step appears to be crucially important to remain balanced. This paper contributes the foot placement indicator (FPI), an extension to the foot placement estimator (FPE) for planar bipeds with point feet and an arbitrary number of non-massless links. The method uses conservation of energy to determine where the planar biped needs to step to remain in balance. Simulations of the FPI show improved foot placement for balance with respect to the FPE.

 

 

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