{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,6,26]],"date-time":"2024-06-26T22:33:23Z","timestamp":1719441203142},"reference-count":11,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2013,9]]},"abstract":"<jats:p> Push recovery is an important capability for a biped to safely maneuver in a real dynamic environment. In this paper, a generalized push recovery scheme to handle pushes from any direction that may occur at any walking phase is developed. Using the concept of walking phase modification, a series of systematic push recovery scheme that takes into account the severity of the push is presented. The result is that a bipedal robot could adapt to pushes according to the magnitude of disturbance and determine the best course of action. A number of push recovery experiments with different walking phases and push directions have been carried out using a 12-DOF humanoid robot model in dynamic simulations. The versatility and potential of the overall scheme is also demonstrated with the bipedal robot balancing on an accelerating cart. <\/jats:p>","DOI":"10.1142\/s0219843613500229","type":"journal-article","created":{"date-parts":[[2013,7,23]],"date-time":"2013-07-23T14:58:29Z","timestamp":1374591509000},"page":"1350022","source":"Crossref","is-referenced-by-count":6,"title":["PUSH RECOVERY THROUGH WALKING PHASE MODIFICATION FOR BIPEDAL LOCOMOTION"],"prefix":"10.1142","volume":"10","author":[{"given":"ALBERTUS HENDRAWAN","family":"ADIWAHONO","sequence":"first","affiliation":[{"name":"Robotics Programme, Institute of Infocomm Research, I Fusionopolis Way, 138632, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"CHEE-MENG","family":"CHEW","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, National University of Singapore, 21 Lower Kent Ridge Road, 119077, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"BINGBING","family":"LIU","sequence":"additional","affiliation":[{"name":"Robotics Programme, Institute of Infocomm Research, I Fusionopolis Way, 138632, Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2013,10]]},"reference":[{"key":"rf4","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004268"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912452673"},{"key":"rf8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912452762"},{"key":"rf9","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843608001339"},{"key":"rf19","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843611002551"},{"key":"rf21","volume-title":"Vector Mechanics for Engineers: Dynamics","author":"Beer F. P.","year":"2003"},{"key":"rf22","doi-asserted-by":"publisher","DOI":"10.1109\/70.149940"},{"key":"rf23","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"rf30","volume":"17","author":"Huang Q.","year":"2001","journal-title":"IEEE Trans. Robot. Automat."},{"key":"rf31","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"rf32","doi-asserted-by":"crossref","DOI":"10.1109\/MEX.1986.4307016","volume-title":"Legged Robots that Balance","author":"Raibert M.","year":"1986"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843613500229","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,7]],"date-time":"2019-08-07T13:57:39Z","timestamp":1565186259000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843613500229"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,9]]},"references-count":11,"journal-issue":{"issue":"03","published-online":{"date-parts":[[2013,10]]},"published-print":{"date-parts":[[2013,9]]}},"alternative-id":["10.1142\/S0219843613500229"],"URL":"https:\/\/doi.org\/10.1142\/s0219843613500229","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,9]]}}}