We extend the concept of capture point for humanoids to the presence of persistent known disturbances, such as constant or sinusoidal forces. An analytical general solution is provided for the Linear Inverted Pendulum given any known input function, allowing not only the removal of some previous difficulties in the use of the capture point, but also its extension to more general situations.
Humanoid Push Recovery: An Analytical Solution / Lanari, Leonardo. - In: INTERNATIONAL JOURNAL OF ADVANCED RESEARCH IN COMPUTER SCIENCE AND SOFTWARE ENGINEERING. - ISSN 2277-128X. - ELETTRONICO. - (2014), pp. 87-92.
Humanoid Push Recovery: An Analytical Solution
LANARI, Leonardo
2014
Abstract
We extend the concept of capture point for humanoids to the presence of persistent known disturbances, such as constant or sinusoidal forces. An analytical general solution is provided for the Linear Inverted Pendulum given any known input function, allowing not only the removal of some previous difficulties in the use of the capture point, but also its extension to more general situations.File allegati a questo prodotto
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