Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces
By Sang-Ho Hyon, Joshua G. Hale, Gordon Cheng. IEEE Transactions on robotics, 2007
353 citations recorded by the source corpus.
Subfields: Biomedical Engineering, Control and Systems Engineering
View Paper: https://www.semanticscholar.org/paper/b247371a0b703ace4d005f7133fdcc0064e49081
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Biomedical Engineering
- Aaron D. Ames
- Christine Chevallereau
- Jessy W. Grizzle
- Twan Koolen
- Tomas de Boer
- John R. Rebula
- Ryan W. Sinnet
- Jerry E. Pratt
In Control and Systems Engineering
- Jessy W. Grizzle
- Aaron D. Ames
- Christine Chevallereau
- Jan Peters
- Ryan W. Sinnet
- Luis Sentis
- Ales Ude
- Matt Johnson
Citations in the corpus
- Dynamic Balance Force Control for compliant humanoid robots (2010, background): “It has been shown that under quasistatic assumptions and proper damping of internal motions the desired forces can be achieved [8].”
- Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, background): “These mechanisms are generally considered fundamental in dealing with disturbances, both in the biomechanics and robotics literature (Horak and Nashner 1986; Guihard and Gorce 2002; Abdallah and Goswami 2005; Hyon et al. 2007; Stephens 2007b; Nenchev and Nishio 2008).”
- Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “widely used in analysis of push recovery and balance ([201, 72, 78, 196]).”
- Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives (2010, background): “quires that the robot is back-drivable [8], [9] or can compensate for the influences of external forces [10]–[12].”
- Compliant Control of Multicontact and Center-of-Mass Behaviors in Humanoid Robots (2010, background): “Compliant multicontact behaviors using optimal distribution of contact forces has recently been explored [13].”
- Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “Further work has expanded the ZMP method to include step placement adjustment in reaction to disturbances [8], [9], but there is no measure of the ability of the robot to reactively avoid a fall when following a given preplanned ZMP trajectory.”