{"title":"2步捕获区行走;推，坡道和速度调节","authors":"Ivan Fischman Ekman Simões, A. Forner-Cordero","doi":"10.1109/ICAR46387.2019.8981616","DOIUrl":null,"url":null,"abstract":"Herein a controller for biped robots that allows disturbance rejection and adaptability to different walking conditions is proposed. It is based on the Capture Point and N-Step Capturability theories, and is capable of speed modulation; including positive and negative velocities. The controller performance is accessed through simulations by disturbing a nominal gait with: impulsive and constant pushes, ascending and descending ramps, and a sinusoidal terrain. Finally, a discussion regarding the controller performance is presented.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"51 1","pages":"449-455"},"PeriodicalIF":0.0000,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Walking in the 2-Step Capture Region; pushes, ramps and speed modulation\",\"authors\":\"Ivan Fischman Ekman Simões, A. Forner-Cordero\",\"doi\":\"10.1109/ICAR46387.2019.8981616\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Herein a controller for biped robots that allows disturbance rejection and adaptability to different walking conditions is proposed. It is based on the Capture Point and N-Step Capturability theories, and is capable of speed modulation; including positive and negative velocities. The controller performance is accessed through simulations by disturbing a nominal gait with: impulsive and constant pushes, ascending and descending ramps, and a sinusoidal terrain. Finally, a discussion regarding the controller performance is presented.\",\"PeriodicalId\":6606,\"journal\":{\"name\":\"2019 19th International Conference on Advanced Robotics (ICAR)\",\"volume\":\"51 1\",\"pages\":\"449-455\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 19th International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR46387.2019.8981616\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 19th International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR46387.2019.8981616","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Walking in the 2-Step Capture Region; pushes, ramps and speed modulation
Herein a controller for biped robots that allows disturbance rejection and adaptability to different walking conditions is proposed. It is based on the Capture Point and N-Step Capturability theories, and is capable of speed modulation; including positive and negative velocities. The controller performance is accessed through simulations by disturbing a nominal gait with: impulsive and constant pushes, ascending and descending ramps, and a sinusoidal terrain. Finally, a discussion regarding the controller performance is presented.
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