TY - GEN
T1 - Learning arm motion strategies for balance recovery of humanoid robots
AU - Nakada, Masaki
AU - Allen, Brian
AU - Morishima, Shigeo
AU - Terzopoulos, Demetri
PY - 2010/12/1
Y1 - 2010/12/1
N2 - Humans are able to robustly maintain balance in the presence of disturbances by combining a variety of control strategies using posture adjustments and limb motions. Such responses can be applied to balance control in two-armed bipedal robots. We present an upper-body control strategy for improving balance in a humanoid robot. Our method improves on lowerbody balance techniques by introducing an arm rotation strategy (ARS). The ARS uses Q-learning to map sensed state to the appropriate arm control torques. We demonstrate successful balance in a physically-simulated humanoid robot, in response to perturbations that overwhelm lower-body balance strategies alone.
AB - Humans are able to robustly maintain balance in the presence of disturbances by combining a variety of control strategies using posture adjustments and limb motions. Such responses can be applied to balance control in two-armed bipedal robots. We present an upper-body control strategy for improving balance in a humanoid robot. Our method improves on lowerbody balance techniques by introducing an arm rotation strategy (ARS). The ARS uses Q-learning to map sensed state to the appropriate arm control torques. We demonstrate successful balance in a physically-simulated humanoid robot, in response to perturbations that overwhelm lower-body balance strategies alone.
UR - http://www.scopus.com/inward/record.url?scp=78649430034&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649430034&partnerID=8YFLogxK
U2 - 10.1109/EST.2010.18
DO - 10.1109/EST.2010.18
M3 - Conference contribution
AN - SCOPUS:78649430034
SN - 9780769541754
T3 - Proceedings - EST 2010 - 2010 International Conference on Emerging Security Technologies, ROBOSEC 2010 - Robots and Security, LAB-RS 2010 - Learning and Adaptive Behavior in Robotic Systems
SP - 165
EP - 170
BT - Proceedings - EST 2010 - 2010 International Conference on Emerging Security Technologies, ROBOSEC 2010 - Robots and Security, LAB-RS 2010 - Learning and Adaptive Behavior in Robotic Systems
T2 - 2010 International Conference on Emerging Security Technologies, EST 2010, Robots and Security, ROBOSEC 2010, Learning and Adaptive Behavior in Robotic Systems, LAB-RS 2010
Y2 - 6 September 2010 through 8 September 2010
ER -