TY - GEN
T1 - Fall initiation criteria for three-dimensional multi-segmental model of biped robot
AU - Joo, Chang B.
AU - Kim, Joo H.
N1 - Publisher Copyright:
Copyright © 2014 by ASME.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
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U2 - 10.1115/DETC201434191
DO - 10.1115/DETC201434191
M3 - Conference contribution
AN - SCOPUS:84961353188
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 38th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2014
Y2 - 17 August 2014 through 20 August 2014
ER -