Effects of hand contact on the stability of a planar humanoid with a momentum based controller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Standard

Effects of hand contact on the stability of a planar humanoid with a momentum based controller. / Azad, Morteza; Babič, Jan; Mistry, Michael N.

IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society Press, 2015. p. 348-353 7041383.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Harvard

Azad, M, Babič, J & Mistry, MN 2015, Effects of hand contact on the stability of a planar humanoid with a momentum based controller. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-February, 7041383, IEEE Computer Society Press, pp. 348-353, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 18/11/14. https://doi.org/10.1109/HUMANOIDS.2014.7041383

APA

Azad, M., Babič, J., & Mistry, M. N. (2015). Effects of hand contact on the stability of a planar humanoid with a momentum based controller. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-February, pp. 348-353). [7041383] IEEE Computer Society Press. https://doi.org/10.1109/HUMANOIDS.2014.7041383

Vancouver

Azad M, Babič J, Mistry MN. Effects of hand contact on the stability of a planar humanoid with a momentum based controller. In IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February. IEEE Computer Society Press. 2015. p. 348-353. 7041383 https://doi.org/10.1109/HUMANOIDS.2014.7041383

Author

Azad, Morteza ; Babič, Jan ; Mistry, Michael N. / Effects of hand contact on the stability of a planar humanoid with a momentum based controller. IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society Press, 2015. pp. 348-353

Bibtex

@inproceedings{23eabd7a6a6e41c8b84b4c6a2915aeff,
title = "Effects of hand contact on the stability of a planar humanoid with a momentum based controller",
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.",
author = "Morteza Azad and Jan Babi{\v c} and Mistry, {Michael N.}",
year = "2015",
month = feb,
day = "12",
doi = "10.1109/HUMANOIDS.2014.7041383",
language = "English",
isbn = "9781479971749",
volume = "2015-February",
pages = "348--353",
booktitle = "IEEE-RAS International Conference on Humanoid Robots",
publisher = "IEEE Computer Society Press",
note = "2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 ; Conference date: 18-11-2014 Through 20-11-2014",

}

RIS

TY - GEN

T1 - Effects of hand contact on the stability of a planar humanoid with a momentum based controller

AU - Azad, Morteza

AU - Babič, Jan

AU - Mistry, Michael N.

PY - 2015/2/12

Y1 - 2015/2/12

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84945195825&partnerID=8YFLogxK

U2 - 10.1109/HUMANOIDS.2014.7041383

DO - 10.1109/HUMANOIDS.2014.7041383

M3 - Conference contribution

AN - SCOPUS:84945195825

SN - 9781479971749

VL - 2015-February

SP - 348

EP - 353

BT - IEEE-RAS International Conference on Humanoid Robots

PB - IEEE Computer Society Press

T2 - 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014

Y2 - 18 November 2014 through 20 November 2014

ER -