Abstract
This paper studies the effects of hand contact force on the stability of a planar humanoid robot while translational perturbations are applied to its foot. A momentum based controller is used to control the robot's motion during the perturbations. Simulation results show that the displacements of the center of pressure (CoP) of the foot decrease substantially when there is a supportive contact between the hand and the environment. The simulation results of the CoP displacements and handle forces also conform with the results of the experiments on human subjects with different positions of the hand contact. This conformity shows that the momentum based controller adequately models human behaviour in contact with the environment during a balancing motion.
Original language | English |
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Title of host publication | IEEE-RAS International Conference on Humanoid Robots |
Publisher | IEEE Computer Society Press |
Pages | 348-353 |
Number of pages | 6 |
Volume | 2015-February |
ISBN (Print) | 9781479971749 |
DOIs | |
Publication status | Published - 12 Feb 2015 |
Event | 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain Duration: 18 Nov 2014 → 20 Nov 2014 |
Conference
Conference | 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 |
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Country/Territory | Spain |
City | Madrid |
Period | 18/11/14 → 20/11/14 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Hardware and Architecture
- Human-Computer Interaction
- Electrical and Electronic Engineering