Falls control using posture reshaping and active compliance

Abstract : We address the problem of humanoid falls when they are unavoidable. We propose a control strategy that combines two behaviors: i) closed-loop posture reshaping - during the falling phase, which allows best impact absorption from a predefined taxonomy, coupled with ii) an active compliance through instant PD gains reduction, instead of shutting-off the actuators or instead of high-gains control with additional implements as previously proposed by other works. We perform several simulations to assess our strategy and made experimental trials on the HRP-4 humanoid robot.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01345805
Contributor : Isabelle Gouat <>
Submitted on : Friday, July 15, 2016 - 6:36:12 PM
Last modification on : Tuesday, June 18, 2019 - 12:06:37 PM

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Vincent Samy, Abderrahmane Kheddar. Falls control using posture reshaping and active compliance. Humanoids, Nov 2015, Seoul, South Korea. pp.908-913, ⟨10.1109/HUMANOIDS.2015.7363469⟩. ⟨lirmm-01345805⟩

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