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 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Pages3963-3968
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
EventIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
Duration: 2006 Nov 62006 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Motoi, N., & Ohnishi, K. (2006). Collision avoidance method of humanoid robot based on controlling extended orbital energy. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics (pp. 3963-3968). [4153203] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2006.347261