Push Recovery Control for Force-Controlled Humanoid Robots

A mobile video teleconferencing system comprising an audio-visual assembly atop a vertical support structure mounted to a powered, wheeled base. The device is controlled through a wireless Internet connection by a remote user, and is light enough to be carried with one hand. The remote user can navigate the device through a local environment and interact with persons present there.

Mobile video teleconferencing system and control method

This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven dof and can emulate motions in the sagittal plane of a humanoid robot We simulated falling motions of HRP-2FX which generated by using an optimal control method to minimize a performance index, and verified the optimality

Towards an Optimal Falling Motion for a Humanoid Robot

Humanoid robots are prone to fall caused by disturbances If the disturbance is weak, a humanoid robot can avoid falling by using feedback control If the disturbance is strong, humanoid robots can perform an Ukemi motion: an active shock-reducing motion This research proposes a technique for selecting an optimal strategy to handle disturbances while walking, and describes a method of generating Ukemi motion This technique detects disturbances using sensor data while walking steadily Moreover, an experiment with a real robot was performed where fall detection was computed using discriminant analysis of walking data labelled as fall and non-fall Furthermore, this study uses the three-dimensional linear inverted pendulum mode (3D-LIPM), which has been utilized in gait generation of humanoid robots, to generate a solution for the center of gravity for the contracting/expanding fall correction movement The effectiveness of the proposed technique was confirmed by the verification experiments

Falling motion control for humanoid robots while walking

This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot. An optimal control is applied to generate the falling motion of HRP-2FX to minimize a performance index, and the optimality has been verified by the experiments on HRP-2FX.

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An optimal planning of falling motions of a humanoid robot

We previously reported the first human-sized humanoid robot that can fall down safely and stand up again. This paper examines the falling motion control by supplementary simulations and presents an improvement of the control by optimizing the control parameters. The UKEMI falling over control of a human-sized humanoid robot is simulated, the simulation results are compared with the experimental results of real humanoid robot.

Falling motion control of a humanoid robot trained by virtual supplementary tests

This paper studies a falling motion control of a human-size humanoid robot when it falls forward. Safe knee landing of the robot is realized as a first step to minimize the damage of the falling over. The landing follows the detection of the falling, the decrease of the knee height after the detection, and the brake of landing speed. It is confirmed that the proposed method can soften the landing impact significantly by the proposed method.

Safe knee landing of a human-size humanoid robot while falling forward

This paper presents a motion planner of getting up motion using Mahalanobis distance. It is an indispensable function for humanoid robots to get up by itself and some humanoid robots are able to get up by themselves, but the motion can start only from the states specified a prior. The robots have to get up from an arbitrary lying state which may result after an unexpected falling. The proposed method (l) determines the degree of similarity between the current falling state and predefined falling states using Mahalanobis distance, (2) generates a collision-free motion to the most similar state, and (3) plans a sequence of motions using a state transition graph.

Kiyoshi Fujiwara

Papers

Towards an Optimal Falling Motion for a Humanoid Robot

An optimal planning of falling motions of a humanoid robot

Falling motion control of a humanoid robot trained by virtual supplementary tests

Safe knee landing of a human-size humanoid robot while falling forward

Getting up Motion Planning using Mahalanobis Distance