Expanding Humanoid's Material-Handling Capabilities using Capture Point Walking
Document Type
Conference Proceeding
Publication Date
7-1-2020
Publication Title
Proceedings of the American Control Conference
Publisher
Institute of Electrical and Electronics Engineers
Publisher Location
New York, NY
Volume
2020-07-01
First page number:
2082
Last page number:
2087
Abstract
© 2020 AACC. A capture point approach is applied for a humanoid to push carts. When friction compensation was added, such material-handling was more effective. By contrast, with-out such compensation, external disturbances yielded unstable walking. As such, tuning dynamic models of walking coupled with arm compliance yielded better performance. This is important to ensure balance and minimize the disturbance effects.
Disciplines
Mechanical Engineering
Language
English
Repository Citation
Vaz, J.,
Oh, P.
(2020).
Expanding Humanoid's Material-Handling Capabilities using Capture Point Walking.
Proceedings of the American Control Conference, 2020-07-01
2082-2087.
New York, NY: Institute of Electrical and Electronics Engineers.
http://dx.doi.org/10.23919/ACC45564.2020.9147541