Closed-loop push recovery for an inexpensive humanoid robot

Amirhossein Hosseinmemar, Jacky Baltes, John Anderson, Meng Cheng Lau, Chi Fung Lun, Ziang Wang

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

1 Citation (Scopus)

Abstract

Active balancing in autonomous humanoid robots is a challenging task due to the complexity of combining a walking gait with dynamic balancing, vision and high-level behaviors. Humans not only walk successfully over even and uneven terrain, but can recover from the interaction of external forces such as impacts with obstacles and active pushes. While push recovery has been demonstrated successfully in expensive robots, it is more challenging with robots that are inexpensive, with limited power in actuators and less accurate sensing. This work describes a closed-loop control method that uses an accelerometer and gyroscope to allow an inexpensive humanoid robot to actively balance while walking and recover from pushes. An experiment is performed to test three hand-tuned closed-loop control configurations; using only a the gyroscope, only the accelerometer, and a combination of both sensors to recover from pushes. Experimental results show that the combination of gyroscope and accelerometer outperforms the other methods with 100% recovery from a light push and 70% recovery from a strong push.

Original languageEnglish
Title of host publicationRecent Trends and Future Technology in Applied Intelligence - 31st International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2018, Proceedings
EditorsOtmane Ait Mohamed, Malek Mouhoub, Samira Sadaoui, Moonis Ali
PublisherSpringer Verlag
Pages233-244
Number of pages12
ISBN (Print)9783319920573
DOIs
Publication statusPublished - 2018 Jan 1
Externally publishedYes
Event31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems IEA/AIE 2018 - Montreal, Canada
Duration: 2018 Jun 252018 Jun 28

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10868 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems IEA/AIE 2018
CountryCanada
CityMontreal
Period18/6/2518/6/28

Keywords

  • Autonomous active balancing
  • Centroidal moment pivot
  • Humanoid robot
  • Push recovery

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Hosseinmemar, A., Baltes, J., Anderson, J., Lau, M. C., Lun, C. F., & Wang, Z. (2018). Closed-loop push recovery for an inexpensive humanoid robot. In O. Ait Mohamed, M. Mouhoub, S. Sadaoui, & M. Ali (Eds.), Recent Trends and Future Technology in Applied Intelligence - 31st International Conference on Industrial Engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2018, Proceedings (pp. 233-244). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10868 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-92058-0_22