Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop

Nozawa, Satoshi; Kuroiwa, Eisoku; Kojima, Kazuyuki; Ueda, Ryuichi; Murooka, Masaki; Noda, Shintaro; Kumagai, Iori; Ohara, Yu; Kakiuchi, Yohei; Okada, Kei; Inaba, Masayuki

doi:10.1109/humanoids.2015.7363578

Cited by 16 publications

(7 citation statements)

References 19 publications

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“…In this experiment, we set lateral constraint as ε = 55. One cycle of this locomotion is composed of 18 phases and stability margin maximization with lateral constraint is applied on Phase3, 4,7,8,11,12,15,16. On the phases that both feet of robot are grounded before and after these leg-wheel phases, the transition is executed without changing center of gravity projection point such To consider the efficiency of locomotion, we compare the electric power and energy consumed by the locomotion based on stability margin maximization with utilizing passive wheel with by the locomotion based on single leg stance as shown in Fig.5 without utilizing passive wheel.…”

Section: Methodsmentioning

confidence: 99%

Section: Emergency Stoppermentioning

confidence: 99%

“…Because bipedal robots such as humanoid robots tend to lose balance and fall, the methods to prevent the fall accident are proposed [11,12,13]. Emergency Stop [11] is one of those methods. Emergency Stop is utilized for fall detection and motion reverting not to fall based on the measurement of Capture Point (CP) [5] ξ CP x,y defined as the following formula.…”

Section: Emergency Stoppermentioning

confidence: 99%

“…From the data (D) in this moment, fall detection is confirmed because CP gets out of the Safe Region. After Emergency Stopper halts the transition motion based on fall detection, the execution of motion reverting [11] enables the fall prevention. However, because leg-wheel transition is not accomplished by only motion reverting, additional strategies are required.…”

Section: Force Translation Of Safe Regionmentioning

confidence: 99%

See 3 more Smart Citations

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Kimura

Imaoka

Noda

et al. 2020

Preprint

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This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall, and the adaptability by prevention of body swing sideways. To achieve these, we propose the stability margin maximization to optimize center of gravity projection for support polygon and the fall prevention functions for real environment that is a diﬃcult situation to prevent unexpected fall by the only planning. Finally, we apply the proposed methods to leg-wheel phases through locomotion and verify the contribution by experiments using real bipedal robot.

show abstract

Section: Methodsmentioning

confidence: 99%

Section: Emergency Stoppermentioning

confidence: 99%

Section: Emergency Stoppermentioning

confidence: 99%

Section: Force Translation Of Safe Regionmentioning

confidence: 99%

See 2 more Smart Citations

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Kimura

Imaoka

Noda

et al. 2020

Preprint

Self Cite

View full text Add to dashboard Cite

show abstract

“…Because bipedal robots such as humanoid robots tend to lose balance and fall, the methods to prevent the fall accident are proposed [12][13][14]. Emergency Stop [12] is one of those methods. Emergency Stop is utilized for fall detection and motion reverting not to fall based on the measurement of Capture Point (CP) [5] ξ CP…”

Section: Emergency Stoppermentioning

confidence: 99%

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

et al. 2020

Self Cite

View full text Add to dashboard Cite

This paper proposes a locomotion approach of leg-wheel robot utilizing passive wheel attached to the foot of bipedal robot. The key feature of this approach is bipedal mobility without swing leg. This mobility contributes the stability based on expansion of support polygon during locomotion, the robustness for obstacles and stopping to prevent fall, and the adaptability by prevention of body swing sideways. To achieve these, we propose the stability margin maximization to optimize center of gravity projection for support polygon and the fall prevention functions for real environment that is a difficult situation to prevent unexpected fall by the only planning. Finally, we apply the proposed methods to leg-wheel phases through locomotion and verify the contribution by experiments using real bipedal robot.

show abstract

Autonomously achieving bipedal locomotion skill via hierarchical motion modelling

Luo

Wang

2016

2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)

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Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop

Cited by 16 publications

References 19 publications

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Locomotion approach of bipedal robot utilizing passive wheel without swing leg based on stability margin maximization and fall prevention functions

Autonomously achieving bipedal locomotion skill via hierarchical motion modelling

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