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

Naoki Motoi, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ3963-3968
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11 62006 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

フィンガープリント

「Collision avoidance method of humanoid robot based on controlling extended orbital energy」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル