Learning arm motion strategies for balance recovery of humanoid robots

Masaki Nakada, Brian Allen, Shigeo Morishima, Demetri Terzopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings - EST 2010 - 2010 International Conference on Emerging Security Technologies, ROBOSEC 2010 - Robots and Security, LAB-RS 2010 - Learning and Adaptive Behavior in Robotic Systems
Pages165-170
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 International Conference on Emerging Security Technologies, EST 2010, Robots and Security, ROBOSEC 2010, Learning and Adaptive Behavior in Robotic Systems, LAB-RS 2010 - Canterbury, United Kingdom
Duration: 2010 Sep 62010 Sep 8

Publication series

NameProceedings - EST 2010 - 2010 International Conference on Emerging Security Technologies, ROBOSEC 2010 - Robots and Security, LAB-RS 2010 - Learning and Adaptive Behavior in Robotic Systems

Conference

Conference2010 International Conference on Emerging Security Technologies, EST 2010, Robots and Security, ROBOSEC 2010, Learning and Adaptive Behavior in Robotic Systems, LAB-RS 2010
CountryUnited Kingdom
CityCanterbury
Period10/9/610/9/8

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Nakada, M., Allen, B., Morishima, S., & Terzopoulos, D. (2010). Learning arm motion strategies for balance recovery of humanoid robots. In 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 (pp. 165-170). [5600269] (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). https://doi.org/10.1109/EST.2010.18