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The Angular-Momentum Linear Inverted Pendulum (ALIP) model is a promising motion planner for bipedal robots. However, it relies on two assumptions: (1) the robot has point-contact feet or passive ankles, and (2) the angular momentum around the center of mass, known as centroidal angular momentum, is negligible. This paper addresses the question of whether the ALIP paradigm can be applied to more general bipedal systems with complex foot geometry (e.g., flat feet) and nontrivial torso/limb inertia and mass distribution (e.g., non-centralized arms). In such systems, the dynamics introduce non-negligible centroidal momentum and contact wrenches at the feet, rendering the assumptions of the ALIP model invalid. This paper presents the ALIP planner for general bipedal robots with non-point-contact feet through the use of a task-space whole-body controller that regulates centroidal momentum, thereby ensuring that the robot's behavior aligns with the desired template dynamics. To demonstrate the effectiveness of our proposed approach, we conduct simulations using the Sarcos©Guardian® XO®robot, which is a hybrid humanoid/exoskeleton with large, offset feet. The results demonstrate the practicality and effectiveness of our approach in achieving stable and versatile bipedal locomotion.
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RFID-Enabled Smart Bracelet for COVID-19
Social Distancing is the new normal. The key is to keep 6 feet of space between yourself and others. While this might seem like a daunting task, this can be achieved through smart wearables. Wearable technology impacts the daily life of its users. Our goal is to develop a smart band which will help in achieving that with sensing the opposite tagged- band within Six-feet and giving out signals to the end-user as a vibration and blinking of a Red LED.
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- Award ID(s):
- 2028612
- PAR ID:
- 10443608
- Date Published:
- Journal Name:
- International Supply Chain Technology Journal
- Volume:
- 6
- Issue:
- 12
- ISSN:
- 2380-5730
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.20545/isctj.v06.i12.03
