TY - GEN
T1 - Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body
AU - Araki, Kiyohiro
AU - Miwa, Takanobu
AU - Shigemune, Hiroki
AU - Hashimoto, Shuji
AU - Sawada, Hideyuki
PY - 2018/12/26
Y1 - 2018/12/26
N2 - In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.
AB - In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.
KW - Ground-contacting state
KW - Humanoid robot
KW - Sensing system
KW - Standing-up control
UR - http://www.scopus.com/inward/record.url?scp=85061553658&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85061553658&partnerID=8YFLogxK
U2 - 10.1109/IECON.2018.8591360
DO - 10.1109/IECON.2018.8591360
M3 - Conference contribution
AN - SCOPUS:85061553658
T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
SP - 3292
EP - 3297
BT - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Y2 - 20 October 2018 through 23 October 2018
ER -