Fall initiation criteria for three-dimensional multi-segmental model of biped robot

Chang B. Joo, Joo H. Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

A biped mechanism can maintain its balance by redirecting the ground reaction force direction and changing the center of pressure location. In this paper, how the variable inertia in a multibody dynamic model is related to those efforts is investigated and fall initiation criteria in three dimensional space, a balanced state manifold is constructed by using a 3D multi-segmental model. The balanced state domain is constructed by iteratively solving nonlinear constrained optimization problems and finding the velocity extrema at given center of mass positions subjected to certain balancing conditions. The constructed balanced state domain of a multisegmental model can be used as fall initiation criteria in 3D space and it demonstrates the better balancing maintenance capability of 3D multi-segmental model than the 3D linear inverted pendulum mode.

Original languageEnglish
Title of host publication38th Mechanisms and Robotics Conference
ISBN (Electronic)9780791846377
DOIs
StatePublished - 2014
EventASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014 - Buffalo, United States
Duration: 17 Aug 201420 Aug 2014

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B

Conference

ConferenceASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Country/TerritoryUnited States
CityBuffalo
Period17/08/1420/08/14

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