Name
Title | ||
|---|---|---|
Safe fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
Abstract | ||
|---|---|---|
Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which rapidly modifies the robot's fall direction in order to avoid hitting a person or an object in the vicinity. Our approach is based on the key observation that during “toppling” the rotational motion of a robot necessarily occurs at the leading edge or the leading corner of its support base polygon. To modify the fall direction the robot needs to change the position and orientation of this edge or corner vis-a-vis the prohibited direction. We achieve it through intelligent stepping as soon as a fall is detected. We compute the optimal stepping location which results in the safest fall. Additional improvement to the fall controller is achieved through inertia shaping techniques aimed at controlling the centroidal inertia of the robot. We demonstrate our results through the simulation of an Asimo-like humanoid robot. To our knowledge, this is the first implementation of a controller that attempts to change the fall direction of a humanoid robot. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152755 | ICRA |
Keywords | Field | DocType |
asimo-like humanoid robot,support base geometry,fall strategy,leading edge,fall direction,humanoid robot fall,safest fall,inertia shaping,additional improvement,fall direction change,leading corner,centroidal inertia,humanoid robot,safe fall,fall controller,humanoid robot fall direction,robot kinematics,indexing terms,foot,computational geometry,computational modeling,mathematical model,leg,humanoid robots,robot control | Robot control,Control theory,Control theory,Simulation,Rotation around a fixed axis,Robot kinematics,Control engineering,Inertia,Engineering,Robot,Leading edge,Humanoid robot | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 E-ISBN : 978-1-4244-2789-5 |
ISBN | Citations | PageRank |
978-1-4244-2789-5 | 15 | 0.80 |
References | Authors | |
11 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Seung-kook Yun | 1 | 137 | 11.04 |
| Ambarish Goswami | 2 | 1345 | 119.12 |
| Yoshiaki Sakagami | 3 | 15 | 0.80 |