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

Morteza Azad, Jan Babič, Michael N. Mistry

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

1 Citation (Scopus)

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 languageEnglish
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society Press
Pages348-353
Number of pages6
Volume2015-February
ISBN (Print)9781479971749
DOIs
Publication statusPublished - 12 Feb 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 18 Nov 201420 Nov 2014

Conference

Conference2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Country/TerritorySpain
CityMadrid
Period18/11/1420/11/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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