TY - GEN
T1 - Robust Landing Stabilization of Humanoid Robot on Uneven Terrain via Admittance Control and Heel Strike Motion
AU - Jo, Joonhee
AU - Park, Gyunghoon
AU - Oh, Yonghwan
N1 - Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-contact reference for swing foot with which the pose of the foot is stabilized on the obstacle. This can be achieved by walking with heel strike motion (validated by the impact map analysis) and by employing hybrid admittance control combining the admittance control with reset of post-contact reference, embedded into the momentum-based whole-body control framework. The validity of the proposed algorithm is verified by simulation with a physics engine.
AB - This paper addresses robust landing stabilization in humanoid locomotion on uneven terrain. The core idea is to find a configuration of the robot that results in small impulsive force when an unexpected obstacle is encountered, and to adjust post-contact reference for swing foot with which the pose of the foot is stabilized on the obstacle. This can be achieved by walking with heel strike motion (validated by the impact map analysis) and by employing hybrid admittance control combining the admittance control with reset of post-contact reference, embedded into the momentum-based whole-body control framework. The validity of the proposed algorithm is verified by simulation with a physics engine.
UR - http://www.scopus.com/inward/record.url?scp=85125451430&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561534
DO - 10.1109/ICRA48506.2021.9561534
M3 - Conference contribution
AN - SCOPUS:85125451430
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2994
EP - 3000
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -