{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,3]],"date-time":"2022-04-03T09:46:03Z","timestamp":1648979163175},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2013,8,7]],"date-time":"2013-08-07T00:00:00Z","timestamp":1375833600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2014,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Push recovery is one of the most challenging problems for the current humanoid robots. The importance of push recovery can be well observed in the real environment. The critical issue for a humanoid is to maintain and recover its balance against any disturbances. In this research a new stereovision approach is proposed to estimate the robot deviation angle and consequently, the movement of center of mass of the robot is calculated. Then, two novel strategies have been devised to recover the balance of the humanoid which are called \u201cknee strategy\u201d and \u201cknee-hip strategy.\u201d Also, a mathematical model validates the efficiency of the proposed strategies as demonstrated in the paper. Experiments have been conducted on a humanoid robot and demonstrate that the predicted robot deviation angle, using stereovision technique, converges to the actual deviation angle. Stable regions of proposed strategies illustrate that the humanoid can recover its stability in a robust manner. Vision-based estimation also shows a higher correlation to actual deviation angle and a lower fluctuation compared with the output of the acceleration sensor.<\/jats:p>","DOI":"10.1017\/s0263574713000684","type":"journal-article","created":{"date-parts":[[2013,8,7]],"date-time":"2013-08-07T11:50:00Z","timestamp":1375876200000},"page":"413-431","source":"Crossref","is-referenced-by-count":1,"title":["A novel approach for humanoid push recovery using stereopsis"],"prefix":"10.1017","volume":"32","author":[{"given":"Mohammad-Ali Nikouei","family":"Mahani","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shahram","family":"Jafari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hadi","family":"Rahmatkhah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2013,8,7]]},"reference":[{"key":"S0263574713000684_ref5","first-page":"52","volume-title":"Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","author":"Stephens","year":"2010"},{"key":"S0263574713000684_ref19","first-page":"2250","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Pretto","year":"2009"},{"key":"S0263574713000684_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2007.1049"},{"key":"S0263574713000684_ref16","doi-asserted-by":"crossref","first-page":"716","DOI":"10.1109\/TMECH.2010.2051679","article-title":"Global navigation for humanoid robots using sampling-based footstep planners","volume":"16","author":"Zeyang","year":"2011","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"S0263574713000684_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041655"},{"key":"S0263574713000684_ref28","first-page":"1781","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Wachter","year":"2008"},{"key":"S0263574713000684_ref14","volume-title":"Presented in First Ruperto Carola Symposium in the International Science Forum of the University of Heidelberg entitled \u201cFast Motions in Biomechanics and Robots\u201d","author":"Pratt","year":"2005"},{"key":"S0263574713000684_ref22","first-page":"175","volume-title":"Digital Image Computing: Techniques and Applications","author":"Denman","year":"2009"},{"key":"S0263574713000684_ref1","unstructured":"B. Stephens , Control of Full Body Humanoid Push Recovery Using Simple Models, Ph.D. Thesis (Proposal, Carnegie Mellon University, Robotics Institute, 2009)."},{"key":"S0263574713000684_ref7","first-page":"301","volume-title":"Proceedings of the 5th IEEE-RAS International Conference on Humanoid Robots","author":"Kanzaki","year":"2005"},{"key":"S0263574713000684_ref3","first-page":"446","volume-title":"Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","author":"Mahani","year":"2011"},{"key":"S0263574713000684_ref24","unstructured":"Jean-Yves Bouguet , \u201cPyramidal Implementation of the Lucas Kanade Feature Tracker\u2014Description of the algorithm\u201d, Intel Corporation \u2013 Microprocessor Research Lab."},{"key":"S0263574713000684_ref20","first-page":"593","volume-title":"Proceedings of the IEEE Comput. Soc. Conf. Comput. Vision and Pattern Recogn","author":"Shi","year":"1994"},{"key":"S0263574713000684_ref23","first-page":"17","volume-title":"Proceedings of the International Conference on Control, Automation, Robotics and Vision","author":"Kinoshita","year":"2008"},{"key":"S0263574713000684_ref15","first-page":"200","volume-title":"Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots","author":"Pratt","year":"2006"},{"key":"S0263574713000684_ref10","doi-asserted-by":"crossref","first-page":"783","DOI":"10.1109\/TMECH.2010.2089530","article-title":"Command State-Based Modifiable Walking Pattern Generation on an Inclined Plane in Pitch and Roll Directions for Humanoid Robots","volume":"16","author":"Young-Dae","year":"2011","journal-title":"IEEE\/ASME Trans. Mech."},{"key":"S0263574713000684_ref13","volume-title":"Ph.D. Dissertation","author":"Hofmann","year":"2006"},{"key":"S0263574713000684_ref26","doi-asserted-by":"crossref","first-page":"386","DOI":"10.1109\/CCIE.2010.103","volume-title":"Proceedings of the International Conference on Computing, Control and Industrial Engineering (CCIE)","author":"Weijun","year":"2010"},{"key":"S0263574713000684_ref25","doi-asserted-by":"publisher","DOI":"10.3233\/HIS-2005-2404"},{"key":"S0263574713000684_ref17","first-page":"65","volume-title":"Proceedings of the 7th IEEE-RAS International Conference on Humanoid Robots","author":"Rebula","year":"2007"},{"key":"S0263574713000684_ref12","first-page":"549","volume-title":"Proceedings of the 9th IEEE-RAS international Conference on Humanoid Robots","author":"Yamamoto","year":"2009"},{"key":"S0263574713000684_ref4","first-page":"569","volume-title":"IEEE Conference on Robotics Automation and Mechatronics (RAM)","author":"Adiwahono","year":"2010"},{"key":"S0263574713000684_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2002.800757"},{"key":"S0263574713000684_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041675"},{"key":"S0263574713000684_ref21","first-page":"147","volume-title":"Proceedings of the 4th Alvey Vision Conference","author":"Harris","year":"1998"},{"key":"S0263574713000684_ref9","first-page":"239","volume-title":"Proceedings of the IEEE\/RSJ, Int. Conf. on Intelligent Robots and Systems","author":"Kajita","year":"2001"},{"key":"S0263574713000684_ref27","first-page":"7","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Ngo","year":"2006"},{"key":"S0263574713000684_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2042458"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713000684","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,7,20]],"date-time":"2019-07-20T14:11:12Z","timestamp":1563631872000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713000684\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,8,7]]},"references-count":28,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2014,5]]}},"alternative-id":["S0263574713000684"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713000684","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,8,7]]}}}