Push recovery controller for bipedal robot walking

Adiwahono, Albertus Hendrawan; Chew, Chee-Meng; Huang, Weiwei; Zheng, Yu

doi:10.1109/aim.2009.5230022

Cited by 8 publications

(6 citation statements)

References 7 publications

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“…In Ref. 13, a push recovery controller for walking situations is presented, although validation only using simulations is presented. In Ref.…”

Section: Fall Avoidance and Managementmentioning

confidence: 99%

“…However, to the best of our knowledge, this issue has not su±ciently been addressed yet, although some interesting work has been developed in recent years related to the detection of unstable situations, 1-9 the avoidance of falls (restricted in most cases to recovery from pushes), [10][11][12][13][14] and the design of low-damage fall sequences. [15][16][17][18][19][20][21][22][23] The study of human falls (medical studies, biomechanics, martial arts, human dynamics simulation) provides some insights on how falls are managed by humans 18 : (i) Human musculoskeletal systems have the capacity of absorbing the energy of impacts, thus reducing the damage of falls.…”

Section: Introductionmentioning

confidence: 99%

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Fall Detection and Damage Reduction in Biped Humanoid Robots

Moya

Ruiz‐del‐Solar

Orchard

et al. 2015

Int. J. Human. Robot.

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The appropriate management of fall situations, i.e., fast instability detection, avoidance of unintentional falls, falling without damaging the body, fast recovery of the standing position after a fall-is an essential ability for biped humanoid robots. This issue is especially important for biped humanoid robots carrying out demanding movements such as walking on irregular surfaces, running, or playing a given sport. In this paper, we tackle the detection of instability, and the management of falls in biped humanoids using an integrated framework. In this framework, after instability is detected, a fall can be avoided, or at the very least, low-damage falling sequences can be triggered, depending on the degree of the detected instability. The proposed fall detection and fall avoidance methodologies have been validated in real-world experiments with biped humanoid robots (525 collision experiments were carried out). The obtained results show the robustness of the fall detection methodology. In addition, they show under which conditions falls can be avoided, and the reduction of the fall damage when a fall occurs. Besides, results also suggest that the proposed fall avoidance methodology still needs improvements. Moreover, the methodology is more suitable for small-sized and light-weight robots which are more mechanically robust to falling and can bear the required tests.

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“…In Ref. 13, a push recovery controller for walking situations is presented, although validation only using simulations is presented. In Ref.…”

Section: Fall Avoidance and Managementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fall Detection and Damage Reduction in Biped Humanoid Robots

Moya

Ruiz‐del‐Solar

Orchard

et al. 2015

Int. J. Human. Robot.

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“…Unfortunately the experimental verification upon a biped is yet missing. Adiwahono et al use the LIPM to adjust the step duration and length [12] of the robot against disturbances during walking. However, the effect of ground contact has been neglected.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Biologically motivated push recovery strategies for a 3D bipedal robot walking in complex environments

Zhao

Schütz

Berns

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Though balancing is a fundamental part of human walking, it has been a challenging topic for bipedal robot. Compared to the versatile strategies of handling disturbances of human, current bipedal robots possess limited skills of managing external disturbances. Among them the capabilities of push recovery and maintaining balance are obviously of prior importance for a bipedal robot to walk in an unknown environment. Existing solutions, such as, capture point, walking phase modification, foot placement estimator and etc, are mostly based on simplifying a bipedal robot as a linear inverted pendulum, which result in omitting the effects of knee and ankle joints, natural dynamics, ground reaction forces and interaction between joints in sagittal and frontal planes in a 3D bipedal robot. To overcome those drawbacks, this paper presents a work that it classifies push types, presents a push detector, and proposes control strategies for managing continuous strong pushes occurring during walking. Based on biological and biomechanical research, more efficient strategies, e. g., hip and ankle strategy, a bent-knee strategy, can be transferred to control methods for bipeds. Through generating required torques and/or regulating joint positions in order to stabilize bipedal robot, a push recovery controller is proposed in this paper. Simulation results demonstrate that a 3D physically simulated anthropomorphic biped with 21 degrees of freedom can succeed in recovering from a strong push of up to 200 N during walking in different walking scenarios.

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“…The most basic of requirements is usually that of balance when using the controller approach, as without it few other activities are possible. Balancing in the presence of forces has been demonstrated [14,17,18] and more elaborate movements such as walking, running, jumping and cycling have been achieved [8,12,15,16]. Further enhancements are to augment the controller with data driven approaches such as motion capture to create more stylistic motion [19,20].…”

Section: General Approachesmentioning

confidence: 99%

“…The opposing technique to data driven approaches is to allow a character that is primarily controlled using physics (e.g., [8][9][10][11][12][13][14]) (controller approach). In this approach the physical properties of the overall character combine with feedback control principles to generate animation.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Balancing and Walking for Real-Time 3D Characters

2011

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Fig. 1. Predictive stepping and posture correction due to random force disturbances being applied to the body.Abstract. This paper describes the real-time modeling of 3D skeletal motion with balancing properties. Our goal is to mimic human responsiveness when external forces are applied to the model. To achieve this we use an inverted pendulum as a basis for achieving a self-balancing model. We demonstrate responsiveness in stepping and posture control via a simplified biped skeletal model using our technique.

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Push recovery controller for bipedal robot walking

Cited by 8 publications

References 7 publications

Fall Detection and Damage Reduction in Biped Humanoid Robots

Fall Detection and Damage Reduction in Biped Humanoid Robots

Biologically motivated push recovery strategies for a 3D bipedal robot walking in complex environments

Dynamic Balancing and Walking for Real-Time 3D Characters

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