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Paper TuA02.5

Yun, Seung-kook (Honda Research Institute), Goswami, Ambarish (Honda Research Institute)

Humanoid Robot Safe Fall Using Aldebaran NAO

Scheduled for presentation during the Regular Session "Bipedal Robot Control" (TuA02), Tuesday, May 15, 2012, 09:30−09:45, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Humanoid Robots

Abstract

Although the fall of a humanoid robot is rare in controlled environments, it cannot be avoided in the real world where the robot may physically interact with the environment. Our earlier work introduced the strategy of direction changing fall, in which the robot attempts to reduce the chance of human injury by changing its default fall direction in realtime and falling in a safer direction. The current paper reports further theoretical developments culminating in a successful hardware implementation of this fall strategy conducted on the Aldebaran NAO robot[3]. This includes new algorithms for humanoid kinematics and Jacobians involving coupled joints and a complete estimation of the body frame attitude using an additional inertial measurement unit. Simulations and experiments are smoothly handled by our platform independent humanoid control software called Locomote. We report experiment scenarios where we demonstrate the effectiveness of the proposed strategies in changing the fall direction.

 

 

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