Closed-loop push recovery for an inexpensive humanoid robot

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

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題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
編輯Otmane Ait Mohamed, Malek Mouhoub, Samira Sadaoui, Moonis Ali
發行者Springer Verlag
頁面233-244
頁數12
ISBN(列印)9783319920573
DOIs
出版狀態已發佈 - 2018
事件31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems IEA/AIE 2018 - Montreal, 加拿大
持續時間: 2018 六月 252018 六月 28

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
10868 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

會議

會議31st International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems IEA/AIE 2018
國家/地區加拿大
城市Montreal
期間2018/06/252018/06/28

ASJC Scopus subject areas

  • 理論電腦科學
  • 電腦科學(全部)

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