Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body

Kiyohiro Araki, Takanobu Miwa, Hiroki Shigemune, Shuji Hashimoto, Hideyuki Sawada

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

    1 Citation (Scopus)

    Abstract

    In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.

    Original languageEnglish
    Title of host publicationProceedings
    Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages3292-3297
    Number of pages6
    ISBN (Electronic)9781509066841
    DOIs
    Publication statusPublished - 2018 Dec 26
    Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
    Duration: 2018 Oct 202018 Oct 23

    Publication series

    NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

    Conference

    Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
    CountryUnited States
    CityWashington
    Period18/10/2018/10/23

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    Keywords

    • Ground-contacting state
    • Humanoid robot
    • Sensing system
    • Standing-up control

    ASJC Scopus subject areas

    • Energy Engineering and Power Technology
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Control and Optimization

    Cite this

    Araki, K., Miwa, T., Shigemune, H., Hashimoto, S., & Sawada, H. (2018). Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 3292-3297). [8591360] (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591360