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Backips performed by humanoid robots based on Extended Linear Inverted Pendulum Mode
- Authors
- Park, Gunwoo; Park, Jong Hyeon
- Issue Date
- Sep-2012
- Publisher
- IFAC Secretariat
- Keywords
- Backip; Extended Linear Inverted Pendulum Mode; Humanoid robot; Trajectory
- Citation
- IFAC Proceedings Volumes (IFAC-PapersOnline), v.45, no.22, pp.505 - 510
- Indexed
- SCOPUS
- Journal Title
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- Volume
- 45
- Number
- 22
- Start Page
- 505
- End Page
- 510
- ISSN
- 1474-6670
- Abstract
- This paper proposes a method to realize a backip motion for humanoid robots. In each phase of the backip motion, the trajectory is planned. Besides, the Extended Linear Inverted Pendulum Mode (E-LIPM) is newly proposed to generate angular momentum that is needed for turning the body of the robot. In landing, an Impedance control is used to absorb the impact from the ground. Computer simulations of a backip by a 7-DOF humanoid robot were performed, whose results show that the proposed method works well. This method is expected to be used for more complex motions of humanoid robots.
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Related Researcher
- Park, Jong Hyeon
- COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)