Modeling a bipedal humanoid robot using inverted pendulum towards push recovery

Author

Akash, A. ; Chandra, Swarup ; Abha, A. ; Nandi, Gora Chand

Author_Institution

Robot. & Artificial Intell. Lab., Indian Inst. of Inf. Technol.-Allahabad, Allahabad, India

fYear

2012

fDate

19-20 Oct. 2012

Firstpage

1

Lastpage

6

Abstract

Push recovery is an important technology needs to be developed for the effective use of bipedal humanoid robot in the household applications. In this paper, a three mass inverted pendulum model equivalent to Humanoid Open Architecture Platform (HOAP -2) has been developed and the effectiveness of the model has been demonstrated using a software framework known as WEBOTS. It has been developed as a test bed for the development of sophisticated Push recovery techniques for HOAP-2 humanoid robot. Functionality of this model is general and adaptable to any kind of three mass models. Ankle strategy technique has been implemented to verify the correctness of the model. The correctness of the model has been verified successfully by the simulation results.

Keywords

control engineering computing; home automation; humanoid robots; legged locomotion; nonlinear systems; pendulums; service robots; HOAP-2 humanoid robot; WEBOTS; ankle strategy technique; bipedal humanoid robot modeling; household applications; humanoid open architecture platform; mass inverted pendulum model; model functionality; push recovery techniques; software framework; Adaptation models; Computational modeling; Hip; Joints; Manipulators; Mathematical model;

fLanguage

English

Publisher

ieee

Conference_Titel

Communication, Information & Computing Technology (ICCICT), 2012 International Conference on

Conference_Location

Mumbai

Print_ISBN

978-1-4577-2077-2

Type

conf

DOI

10.1109/ICCICT.2012.6398102

Filename

6398102