Push Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean

TitlePush Recovery for Humanoid Robot in Dynamic Environment and Classifying the Data Using K-Mean
Publication TypeJournal Article
Year of Publication2016
AuthorsParashar, A., A. Parashar, and S. Goyal
JournalInternational Journal of Interactive Multimedia and Artificial Intelligence
ISSN1989-1660
IssueRegular Issue
Volume4
Number2
Date Published12/2016
Pagination29-34
Abstract

Push recovery is prime ability that is essential to be incorporated in the process of developing a robust humanoid robot to support bipedalism. In real environment it is very essential for humanoid robot to maintain balance. In this paper we are generating a control system and push recovery controller for humanoid robot walking. We apply different kind of pushes to humanoid robot and the algorithm that can bring a change in the walking stage to sustain walking. The simulation is done in 3D environment using Webots. This paper describes techniques for feature selection to foreshow push recovery for hip, ankle and knee joint. We train the system by K-Mean algorithm and testing is done on crouch data and tested results are reported. Random push data of humanoid robot is collected and classified to see whether push lie in safer region and then tested on given proposed system.

KeywordsBipedal, Classification, Human Activity, Kmeans, Push Recovery, Robotics
DOI10.9781/ijimai.2016.425
URLhttp://www.ijimai.org/journal/sites/default/files/files/2016/11/ijimai20164_2_5_pdf_12005.pdf
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IJIMAI20164_2_5.pdf842.33 KB