Falling prevention system from external disturbances for humanoid robots

Gyeong Moon Park; Seung Hwan Baek; Jong Hwan Kim

doi:10.1007/978-3-319-16841-8_10

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications
Editors	Weimin Yang, Hyun Myung, Jong-Hwan Kim, Peter Sincak, Jun Jo
Publisher	Springer Verlag
Pages	97-105
Number of pages	9
ISBN (Print)	9783319168401
DOIs	https://doi.org/10.1007/978-3-319-16841-8_10
Publication status	Published - 2015
Event	3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, China Duration: 6 Nov 2014 → 8 Nov 2014

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	345
ISSN (Print)	2194-5357

Conference

Conference	3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
Country/Territory	China
City	Beijing
Period	6/11/14 → 8/11/14

Bibliographical note

Publisher Copyright:
© Springer International Publishing Switzerland 2015.

Keywords

Falling prevention system
Humanoid robot
Mass-spring-damper modeling

Access to Document

10.1007/978-3-319-16841-8_10

Cite this

Park, G. M., Baek, S. H., & Kim, J. H. (2015). Falling prevention system from external disturbances for humanoid robots. In W. Yang, H. Myung, J.-H. Kim, P. Sincak, & J. Jo (Eds.), Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications (pp. 97-105). (Advances in Intelligent Systems and Computing; Vol. 345). Springer Verlag. https://doi.org/10.1007/978-3-319-16841-8_10

Park, Gyeong Moon ; Baek, Seung Hwan ; Kim, Jong Hwan. / Falling prevention system from external disturbances for humanoid robots. Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. editor / Weimin Yang ; Hyun Myung ; Jong-Hwan Kim ; Peter Sincak ; Jun Jo. Springer Verlag, 2015. pp. 97-105 (Advances in Intelligent Systems and Computing).

@inproceedings{f08058146642474daae3ac5907190f86,

title = "Falling prevention system from external disturbances for humanoid robots",

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{\textquoteright}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.",

keywords = "Falling prevention system, Humanoid robot, Mass-spring-damper modeling",

author = "Park, \{Gyeong Moon\} and Baek, \{Seung Hwan\} and Kim, \{Jong Hwan\}",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 ; Conference date: 06-11-2014 Through 08-11-2014",

year = "2015",

doi = "10.1007/978-3-319-16841-8\_10",

language = "English",

isbn = "9783319168401",

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publisher = "Springer Verlag",

pages = "97--105",

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address = "Germany",

}

Park, GM, Baek, SH & Kim, JH 2015, Falling prevention system from external disturbances for humanoid robots. in W Yang, H Myung, J-H Kim, P Sincak & J Jo (eds), Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. Advances in Intelligent Systems and Computing, vol. 345, Springer Verlag, pp. 97-105, 3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014, Beijing, China, 6/11/14. https://doi.org/10.1007/978-3-319-16841-8_10

Falling prevention system from external disturbances for humanoid robots. / Park, Gyeong Moon; Baek, Seung Hwan; Kim, Jong Hwan.
Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. ed. / Weimin Yang; Hyun Myung; Jong-Hwan Kim; Peter Sincak; Jun Jo. Springer Verlag, 2015. p. 97-105 (Advances in Intelligent Systems and Computing; Vol. 345).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Falling prevention system from external disturbances for humanoid robots

AU - Park, Gyeong Moon

AU - Baek, Seung Hwan

AU - Kim, Jong Hwan

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2015.

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

KW - Falling prevention system

KW - Humanoid robot

KW - Mass-spring-damper modeling

UR - https://www.scopus.com/pages/publications/84942584803

U2 - 10.1007/978-3-319-16841-8_10

DO - 10.1007/978-3-319-16841-8_10

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AN - SCOPUS:84942584803

SN - 9783319168401

T3 - Advances in Intelligent Systems and Computing

SP - 97

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BT - Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications

A2 - Yang, Weimin

A2 - Myung, Hyun

A2 - Kim, Jong-Hwan

A2 - Sincak, Peter

A2 - Jo, Jun

PB - Springer Verlag

T2 - 3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014

Y2 - 6 November 2014 through 8 November 2014

ER -

Park GM, Baek SH, Kim JH. Falling prevention system from external disturbances for humanoid robots. In Yang W, Myung H, Kim JH, Sincak P, Jo J, editors, Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. Springer Verlag. 2015. p. 97-105. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-16841-8_10

Falling prevention system from external disturbances for humanoid robots

Abstract

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Bibliographical note

Keywords

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