Falling prevention system from external disturbances for humanoid robots

Gyeong Moon Park, Seung Hwan Baek, Jong Hwan Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

Humanoid robot requires a robust prevention system against external disturbances to protect itself from falling to the ground and to perform its tasks completely. In this paper, a Falling Prevention System for humanoid robot is proposed to avoid falling from the disturbances, and helps humanoid robot recover its balance from external force by taking a step. The algorithm for the Falling Prevention System consists of two processes. First, humanoid robot can perceive whether it is falling or not by using an IMU sensor, and if falling, the center of mass (CoM) and swinging leg trajectories are calculated for the robot to take a step. The CoM and swinging leg trajectories are also used to acquire all joint angles of lower body by inverse kinematics. Furthermore, designed foot trajectory helps humanoid robot minimize its yawing moment. Next, mass-spring-damper system for the robot’s legs is modeled to reduce large impact force from the ground. The effectiveness of the proposed method is demonstrated through computer simulations for a humanoid robot.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications
EditorsWeimin Yang, Hyun Myung, Jong-Hwan Kim, Peter Sincak, Jun Jo
PublisherSpringer Verlag
Pages97-105
Number of pages9
ISBN (Print)9783319168401
DOIs
Publication statusPublished - 2015
Event3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, China
Duration: 6 Nov 20148 Nov 2014

Publication series

NameAdvances in Intelligent Systems and Computing
Volume345
ISSN (Print)2194-5357

Conference

Conference3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
Country/TerritoryChina
CityBeijing
Period6/11/148/11/14

Keywords

  • Falling prevention system
  • Humanoid robot
  • Mass-spring-damper modeling

Fingerprint

Dive into the research topics of 'Falling prevention system from external disturbances for humanoid robots'. Together they form a unique fingerprint.

Cite this