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.
Type de document :
Communication dans un congrès
Humanoids, Nov 2015, Seoul, South Korea. 15th IEEE-RAS International Conference on Humanoid Robots, pp.908-913, 2015, 〈10.1109/HUMANOIDS.2015.7363469〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01345805
Contributeur : Isabelle Gouat <>
Soumis le : vendredi 15 juillet 2016 - 18:36:12
Dernière modification le : jeudi 24 mai 2018 - 15:59:24

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Vincent Samy, Abderrahmane Kheddar. Falls control using posture reshaping and active compliance. Humanoids, Nov 2015, Seoul, South Korea. 15th IEEE-RAS International Conference on Humanoid Robots, pp.908-913, 2015, 〈10.1109/HUMANOIDS.2015.7363469〉. 〈lirmm-01345805〉

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