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

    研究成果: Conference contribution

    1 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings
    ホスト出版物のサブタイトルIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ3292-3297
    ページ数6
    ISBN(電子版)9781509066841
    DOI
    出版ステータスPublished - 2018 12 26
    イベント44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
    継続期間: 2018 10 202018 10 23

    出版物シリーズ

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

    Conference

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

    ASJC Scopus subject areas

    • エネルギー工学および電力技術
    • 電子工学および電気工学
    • 産業および生産工学
    • 制御と最適化

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