Human-and-Humanoid Motion - Distinguish Between Safe and Risky Mode

Potkonjak, Veljko and Tomic, Marija and Rodic, Aleksandar and Antoska-Knights, Vesna (2012) Human-and-Humanoid Motion - Distinguish Between Safe and Risky Mode. In: 10th IFAC Symposium on Robot Control (SYROCO 2012), Dubrovnik 2012.

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Official URL: https://www.sciencedirect.com/science/article/pii/...

Abstract

This paper explores a question rarely addressed in studies of human/humanoid gait and related movements. In the case of slow motion with the possibility of stopping and retreating, the human/humanoid has a full control over his movements, while in the latter case called “normal” motion he falls practically out of control. The idea might arise to relate the first situation with stability and the latter with instability. However, the notion of stability, defined in the system theory, does not agree with this and in order to avoid the confusion we here suggest the terms safe and risky motions. Keywords: Human/humanoid gait, stability, safe and risky motion, mass-centre projection, zero-moment point.

Item Type: Conference or Workshop Item (Paper)
Subjects: Scientific Fields (Frascati) > Natural sciences > Mathematics
Divisions: Faculty of Technology and Technical Sciences
Depositing User: Mr Jordan Martinovski
Date Deposited: 23 Nov 2019 13:04
Last Modified: 23 Nov 2019 13:04
URI: http://eprints.uklo.edu.mk/id/eprint/2071

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