Falls control using posture reshaping and active compliance

Samy, Vincent; Kheddar, Abderrahmane

doi:10.1109/humanoids.2015.7363469

Cited by 34 publications

(25 citation statements)

References 13 publications

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“…With our previous work [7] [8], we have now a complete framework for fall handling from pre-impact posture adoption, to impact-time motor PD-gains automatic adaptation, and with the present work, post-impact active compliance with MPC to optimally absorb the impact and bring the robot to a safe rest.…”

Section: Discussionmentioning

confidence: 97%

“…In our previous work [7], we leveraged the brief amount of time available in the pre-impact landing phase to adapt the humanoid's posture based on a predefined taxonomy of postures suited to each fall direction. Then, to deal with the post-impact phase, we suggested reducing PD gains in the low-level actuator controllers to realize a compliant springdamper-like behavior at the joint level.…”

Section: Introductionmentioning

confidence: 99%

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Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model

Samy

Caron

Bouyarmane

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

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We consider control of a humanoid robot in active compliance just after the impact consecutive to a fall. The goal of this post-impact braking is to absorb undesired linear momentum accumulated during the fall, using a limited supply of time and actuation power. The gist of our method is an optimal distribution of undesired momentum between the robot's hand and foot contact points, followed by the parallel resolution of Linear Model Predictive Control (LMPC) at each contact. This distribution is made possible thanks to torquelimited friction polytopes, an extension of friction cones that takes actuation limits into account. Individual LMPC results are finally combined back into a feasible CoM trajectory sent to the robot's whole-body controller. We validate the solution in full-body dynamics simulation of an HRP-4 humanoid falling on a wall.

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Section: Discussionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model

Samy

Caron

Bouyarmane

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

Self Cite

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“…Safe falling strategies are important for minimizing robot damages in case of loss of balance. Our approach for the HRP-4 humanoid, tries to actively reshape the robot's toward one favorable configuration from a set that has been identified in advance [23]; control gains are then adapted in real time to comply with the post-impact dynamics. For the TORO robot, the use of passive protections (pads, airbags) has been found to bring a significant reduction (over 50%) of the accelerations experienced by the robot linkages during the fall; moreover, an active falling strategy based on energy minimization can be adopted to minimize impact velocities at the elbows.…”

Section: E Safety and Contact Detectionmentioning

confidence: 99%

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases

Kheddar

Roa

Wieber

et al. 2019

IEEE Robot. Automat. Mag.

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We report results from a collaborative project that investigated the deployment of humanoid robotic solutions in aircraft manufacturing for some assembly operations where access is not possible for wheeled or rail-ported robotic platforms. Recent developments in multi-contact planning and control, bipedal walking, embedded SLAM, whole-body multi-sensory task space optimization control, and contact detection and safety, suggest that humanoids could be a plausible solution for automation given the specific requirements in such large-scale manufacturing sites. The main challenge is to integrate these scientific and technological advances into two existing humanoid platforms: the position controlled HRP-4 and the torque controlled TORO. This integration effort was demonstrated in a bracket assembly operation inside a 1:1 scale A350 mock-up of the front part of the fuselage at the Airbus Saint-Nazaire site. We present and discuss the main results that have been achieved in this project and provide recommendations for future work.

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“…In this research, dual arm kinematic manipulability was analyzed by using the known leg trajectory and hands posture. Samy and Kheddar [32] addressed the problem of safe falls for humanoid robots and proposed a new controller based on the manipulability. Tagawa and Yamashita [35] applied the concept of manipulability to measure the controllability of motion of the body in robotic bipedal locomotion.…”

Section: Introductionmentioning

confidence: 99%

On the manipulability of swing foot and stability of human locomotion

Fard

Bruijn

2019

Multibody Syst Dyn

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Manipulability is a measure that quantifies the range of possible motions of a robotic end-effector and it is also an important measure in the study of coordination of human upper body and grasping tasks. This measure, which is defined on both the kinematic and dynamic level, could be useful in gait, as it could be used to determine potential foot placement possibilities. Kinematic manipulability is defined based on the Jacobian and dynamic manipulability on both the Jacobian and mass-inertia matrix. The main purpose of this study was to evaluate the manipulability of human walking and to explore a possible relation between the manipulability and dynamic stability of walking at different speeds. A 37-DoF tree-like model of the human body was developed to evaluate the manipulability index of human walking. We measured kinematics of 11 healthy male subjects while walking on a treadmill, and mapped the data to the model using inverse kinematics. Jacobian based kinematic/dynamic manipulability measures of walking were evaluated for the swing phase of walking. Manipulability ellipsoids were drawn for geometric determination of this measure in all directions during early, mid-and late swing phases. As stability metrics, the local divergence exponent and Floquet Multipliers were calculated. The results indicated a high kinematic manipulability of the swing foot during early and late swing phases and a drop in kinematic manipulability during mid-swing. Kinematic manipulability of the swing leg during early and late (but not mid-) swing phases increased with walking speed but the average kinematic manipulability of the center of mass and dynamic manipulability of swing foot decreased with increasing walking speed. Moreover, the results showed a weak relation between the manipulability and local and orbital stability.

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Falls control using posture reshaping and active compliance

Cited by 34 publications

References 13 publications

Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model

Post-impact adaptive compliance for humanoid falls using predictive control of a reduced model

Humanoid Robots in Aircraft Manufacturing: The Airbus Use Cases

On the manipulability of swing foot and stability of human locomotion

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