{"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}
引用次数: 2
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.
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