An active compliant impact protection system for humanoids: Application to WALK-MAN hands

Lee, Jinoh; Choi, Wooseok; Kanoulas, Dimitrios; Subburaman, Rajesh; Caldwell, Darwin G.; Tsagarakis, Nikos G.

doi:10.1109/humanoids.2016.7803362

Cited by 14 publications

(6 citation statements)

References 22 publications

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“…In very recent work [11], Ha and Liu presented an off-line strategy where an algorithm that finds a sequence of contacts minimizes the damage of a humanoid robot fall. [12] and [13] proposed a strategy based on an active cover.…”

Section: Related Workmentioning

confidence: 99%

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QP-based adaptive-gains compliance control in humanoid falls

Samy

Bouyarmane

Kheddar

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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We address the problem of humanoid falling with a decoupled strategy consisting of a pre-impact and a postimpact stage. In the pre-impact stage, geometrical reasoning allows the robot to choose appropriate impact points in the surrounding environment and to adopt a posture to reach them while avoiding impact-singularities and preparing for the postimpact. The surrounding environment can be unstructured and may contain cluttered obstacles. The post-impact stage uses a quadratic program controller that adapts on-line the joint proportional-derivative (PD) gains to make the robot compliant-to absorb impact and post-impact dynamics, which lowers possible damage risks. This is done by a new approach incorporating the stiffness and damping gains directly as decision variables in the QP along with the usually-considered variables of joint accelerations and contact forces. Constraints of the QP prevent the motors from reaching their torque limits during the fall. Several experiments on the humanoid robot HRP-4 in a full-dynamics simulator are presented and discussed.

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Section: Related Workmentioning

confidence: 99%

“…The other joints need also to be consistent with the dynamics and the torque limits so a new constraint is added to the QP. The constraints (10) and (12) are removed and the following constraints are added to the QP (14): (15) with the subscript S (resp. N S) designating the matrix/vector of selected (resp.…”

Section: Post-impact Strategymentioning

confidence: 99%

QP-based adaptive-gains compliance control in humanoid falls

Samy

Bouyarmane

Kheddar

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…Other strategies minimize the damage caused by a fall by locating the contact point on the backpack or on specific areas that are protected [14], mimicking martial arts techniques [15], [16]. Moreover, it is conceivable to use arms to prevent or absorb the effects of falling [17].…”

Section: Introductionmentioning

confidence: 99%

An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids

Zambella

Bicchi

Monteleone

et al. 2020

IEEE Robot. Autom. Lett.

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Robots face the eventuality of falling. Unplanned events, external disturbances and technical failures may lead a robot to a condition where even an effective dynamic stabilization is not sufficient to maintain the equilibrium. Therefore, it is essential to equip robotic platforms with both active and passive fall protection means to minimize damages, and enable the recovery and restart without physical human intervention. This work introduces a method to design an integrated safety system for two-wheeled humanoids. As a case study, the method is applied to a robot and experimentally tested under several conditions corresponding to different causes of robot instability, such as motor jamming, external disturbances, and sudden shutdown .

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“…Moreover, there is some research, e.g. on humanoid falling [17], or locomotion on rough terrain [18], that may cause big damages to the robot and in the same time be also dangerous for humans. Usually, these robots need more than one person to operate, for instance, holding emergency buttons, the crane, controlling the robot, etc.…”

Section: Introductionmentioning

confidence: 99%

RPBP: Rapid-Prototyped Remote-Brain BiPed with 3D Perception

Vona

Kanoulas

2019

2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

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This paper provides the design of a novel open-hardware mini-bipedal robot, named Rapid-Prototyped Remote-Brain BiPed (RPBP), that is developed to provide a low-cost and reliable platform for locomotion and perception research. The robot is made of customized 3D-printed material (ABS plastic) and electronics, and commercial Robotics Dynamixel MX-28 actuators, as well as visual RGB-D and IMU sensing systems. We show that the robot is able to perform some locomotion/visual-odometry tasks and it is easy to switch between different feet designs, providing also a novel Center-of-Pressure (CoP) sensing system, so that it can deal with various types of terrain. Moreover, we provide a description of its control and perception system architecture, as well as our opensource software packages that provide sensing and navigation tools for locomotion and visual odometry on the robot. Finally, we briefly discuss the transferability of some prototype research that has been done on the developed mini-biped, to half or fullsize humanoid robots, such as COMAN or WALK-MAN.

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An active compliant impact protection system for humanoids: Application to WALK-MAN hands

Cited by 14 publications

References 22 publications

QP-based adaptive-gains compliance control in humanoid falls

QP-based adaptive-gains compliance control in humanoid falls

An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids

RPBP: Rapid-Prototyped Remote-Brain BiPed with 3D Perception

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