Continuous assessment of gait stability in limit cycle walkers

J. A. Gallego, A. Forner-Cordero, J. C. Moreno, A. Montellano, E. A. Turowska, Jose L Pons

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

Walking in the presence of perturbations poses a demanding challenge to bipedal robots. In this context, we propose an approach based on an algorithm that observes continuously the state of the robot, and if a perturbation is detected, triggers a recovery action. This paper focuses in the former, it presents a simple algorithm to detect online the occurrence of a perturbation with short delay. Simulations with a complex biped model yield no false positives when walking stably, and provide detection of trips with an average delay of 30.2 ms, comparable to short latency reflexes in humans.

Original languageEnglish (US)
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages734-739
Number of pages6
DOIs
StatePublished - Dec 27 2010
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: Sep 26 2010Sep 29 2010

Publication series

Name2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Conference

Conference2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period9/26/109/29/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

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