Abstract
This paper examines the case of a bipedal robot under an external impact along the axis of the two supporting feet. The dynamics of the robot is modelled using the 3-Mass Linear Inverted Pendulum Model. The model shows that, for impacts below a given threshold, the robot recovers naturally and no corrective action is required. For larger, destabilising impacts, this paper described how to calculate a single or a sequence of corrective steps. The key information used for the calculations is the initial velocity generated by the impact. The behaviour of the model for various initial configurations and impact parameters is illustrated by simulations.
DOI
10.1007/978-3-319-64107-2_3
Publication Date
2017-07-20
Event
TAROS 2017
Publisher
Springer International Publishing
ISBN
9783319641065
ISSN
1611-3349
Embargo Period
2024-11-22
First Page
32
Last Page
40
Recommended Citation
Wallbridge, C., & Bugmann, G. (2017) 'Recovery of a Humanoid Robot from a Destabilising Impact', Springer International Publishing: Available at: https://doi.org/10.1007/978-3-319-64107-2_3
