Falls control using posture reshaping and active compliance - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2015

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.

Domains

Automatic
No file

Dates and versions

lirmm-01345805 , version 1 (15-07-2016)

Identifiers

Cite

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⟩
111 View
0 Download

Altmetric

Share

Gmail Facebook X LinkedIn More