English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Tools annual

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools monthly

Global: Zendy Plus monthly

Presents the access of premium content as premium feature

Premium Content

Global: Zendy Plus annual

Global: Zendy Free Plan

Keeping the stability can be counted as the essential ability of a humanoidrobot to step out of the laboratory to work in our real environment. Sincehumanoid robots have similar kinematic to a human, humans expect these robotsto be robustly capable of stabilizing even in a challenging situation likewhile a severe push is applied. This paper presents a robust walking frameworkwhich not only takes into account the traditional push recovery approaches(e.g., ankle, hip and step strategies) but also uses the concept of DivergentComponent of the Motion (DCM) to adjust next step timing and location. Thecontrol core of the proposed framework is composed of aLinear-Quadratic-Gaussian (LQG) controller and two proportional controllers. Inthis framework, the LQG controller tries to track the reference trajectoriesand the proportional controllers are designed to adjust the next step timingand location that allow the robot to recover from a severe push. The robustnessand the performance of the proposed framework have been validated by performinga set of simulations, including walking and push recovery using MATLAB. Thesimulation results verified that the proposed framework is capable of providinga robust walking even in very challenging situations.

A Hierarchical Framework to Generate Robust Biped Locomotion Based on Divergent Component of Motion