Collision avoidance method of humanoid robot based on controlling extended orbital energy

Naoki Motoi, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper describes a collision avoidance method of a humanoid robot based on controlling the extended orbital energy. When a robot detects an obstacle using an arm tip, it should stop short of the obstacle to avoid crushing. However, modification of the ankle torque may destabilize a walking motion. We propose a method that the robot stops by utilizing an arm force. The COG trajectory is modified during walking by controlling the arm force. The robot stops within 2 steps after contact between the arm tip and the obstacle. During the first step, the COG velocity is reduced by changing the arm force. Here, the arm force is decided based on the extended orbital energy. During the second step, the robot stops just above the supporting point. In addition, the arm force becomes 0 smoothly when the robot stops. In the result, the robot is easily able to switch to the next action after stop.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages3963-3968
Number of pages6
DOIs
Publication statusPublished - 2006
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Other

OtherIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
CountryFrance
CityParis
Period06/11/606/11/10

Fingerprint

Collision avoidance
Robots
Crushing
Torque
Switches
Trajectories

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Motoi, N., & Ohnishi, K. (2006). Collision avoidance method of humanoid robot based on controlling extended orbital energy. In IECON Proceedings (Industrial Electronics Conference) (pp. 3963-3968). [4153203] https://doi.org/10.1109/IECON.2006.347261

Collision avoidance method of humanoid robot based on controlling extended orbital energy. / Motoi, Naoki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). 2006. p. 3963-3968 4153203.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Motoi, N & Ohnishi, K 2006, Collision avoidance method of humanoid robot based on controlling extended orbital energy. in IECON Proceedings (Industrial Electronics Conference)., 4153203, pp. 3963-3968, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics, Paris, France, 06/11/6. https://doi.org/10.1109/IECON.2006.347261
Motoi N, Ohnishi K. Collision avoidance method of humanoid robot based on controlling extended orbital energy. In IECON Proceedings (Industrial Electronics Conference). 2006. p. 3963-3968. 4153203 https://doi.org/10.1109/IECON.2006.347261
Motoi, Naoki ; Ohnishi, Kouhei. / Collision avoidance method of humanoid robot based on controlling extended orbital energy. IECON Proceedings (Industrial Electronics Conference). 2006. pp. 3963-3968
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