PPT-Control of Full Body Humanoid Push Recovery Using Simple Mo

Benjamin Stephens Thesis Proposal Carnegie Mellon Robotics Institute November 23 2009 Committee Chris Atkeson chair Jessica Hodgins Hartmut Geyer Jerry Pratt IHMC 2 Thesis Proposal Overview. DNF controllers are designed to meet the demanding needs of operators and control the wide range of VTRs and DDRs found in television broadcasting live production postproduction duplication and AV facilities DNF Controls offers the full gamut of fie By Maryann Johnson PT. All forms of dance have jumps. They can be dynamic, quick, articulate, explosive and spectacular. It is important to jump well with good technique, alignment, aesthetically beautiful and safely.. Carnegie Mellon University. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. Creating Optimal training Programs. Robert dos Remedios, MA, CSCS, SCCC. Director of Speed, Strength & Conditioning. College of the Canyons, Santa Clarita, CA. www.coachdos.com. THANKS!!!. Joe . Benjamin Stephens. Robotics Institute. Compliant Balance and Push Recovery. Full body compliant control. Robustness to large disturbances. Perform useful tasks in human environments. Motivation. Improve the performance and usefulness of complex robots, simplifying controller design by focusing on simpler models that capture important features of the desired behavior. Systems Applied . to Humanoid Walking. Eric . C. Whitman . & Christopher . G. . Atkeson. Carnegie Mellon University. Related Work. Trajectory generation + trajectory tracking. Takanishi. 1990, . Free Body Diagram. . Lawnmower. Push/Pull. aa. m. g. Force Normal (FN). a. Handle. x. x-axis. Force of Friction (. Ff. ). y. -axis. Forces to consider. Resolve the “Push/Pull” Vector. . Push/Pull (P). human-like body plan. ”.. The quotations refer to the latest version of the HL rule book (version of October 2012) available from . http://www.tzi.de/humanoid/bin/view/Website/Downloads. . 1. Relation 4.1.1 was introduced for the first time in 2006 and used since then “as is”. It links the kinematic robot height . Unit 3, Area of Study 2. . ‘Physiological Reponses to Physical Activity’. What is Recovery?. The aim of recovery is to reverse the effects of Fatigue.. To reverse the effects of Fatigue, we focus on . Ruby . Sharma. Program . Manager. Desmond Lee. Program Manager. Microsoft Corporation. HW-882P. Agenda. Problems with . today’s . r. ecovery . s. olutions. Push Button Reset . f. eature overview. Refresh vs. reset. Philipp . Allgeuer. , Hafez . Farazi. , Michael Schreiber and Sven . Behnke. Autonomous Intelligent Systems. University of Bonn. Existing Standard Platforms. Existing Standard Platforms. Motivation. Why a new platform?. Benjamin Stephens. Robotics Institute. Compliant Balance and Push Recovery. Full body compliant control. Robustness to large disturbances. Perform useful tasks in human environments. Motivation. Improve the performance and usefulness of complex robots, simplifying controller design by focusing on simpler models that capture important features of the desired behavior. By Maryann Johnson PT. All forms of dance have jumps. They can be dynamic, quick, articulate, explosive and spectacular. It is important to jump well with good technique, alignment, aesthetically beautiful and safely.. 9. th. IEEE-RAS International Conference on Humanoid Robots. December 8, 2009. Modeling and Control of Periodic Humanoid Balance Using the Linear Biped Model. Introduction. 2. Motivation. 3. Simple models for complex systems.