Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping
Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which rapidly modifies the robot's fall direction in order to avoid hitting a person or an object in the vicinity. Our approac...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2012
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| Online Access: | http://hdl.handle.net/1721.1/74260 |
| _version_ | 1811094704956112896 |
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| author | Yun, Seung-kook Goswami, Ambarish Sakagami, Yoshiaki |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Yun, Seung-kook Goswami, Ambarish Sakagami, Yoshiaki |
| author_sort | Yun, Seung-kook |
| collection | MIT |
| description | Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which rapidly modifies the robot's fall direction in order to avoid hitting a person or an object in the vicinity. Our approach is based on the key observation that during “toppling” the rotational motion of a robot necessarily occurs at the leading edge or the leading corner of its support base polygon. To modify the fall direction the robot needs to change the position and orientation of this edge or corner vis-a-vis the prohibited direction. We achieve it through intelligent stepping as soon as a fall is detected. We compute the optimal stepping location which results in the safest fall. Additional improvement to the fall controller is achieved through inertia shaping techniques aimed at controlling the centroidal inertia of the robot. We demonstrate our results through the simulation of an Asimo-like humanoid robot. To our knowledge, this is the first implementation of a controller that attempts to change the fall direction of a humanoid robot. |
| first_indexed | 2024-09-23T16:03:44Z |
| format | Article |
| id | mit-1721.1/74260 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T16:03:44Z |
| publishDate | 2012 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/742602024-06-28T13:50:24Z Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping Yun, Seung-kook Goswami, Ambarish Sakagami, Yoshiaki Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Yun, Seung-kook Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which rapidly modifies the robot's fall direction in order to avoid hitting a person or an object in the vicinity. Our approach is based on the key observation that during “toppling” the rotational motion of a robot necessarily occurs at the leading edge or the leading corner of its support base polygon. To modify the fall direction the robot needs to change the position and orientation of this edge or corner vis-a-vis the prohibited direction. We achieve it through intelligent stepping as soon as a fall is detected. We compute the optimal stepping location which results in the safest fall. Additional improvement to the fall controller is achieved through inertia shaping techniques aimed at controlling the centroidal inertia of the robot. We demonstrate our results through the simulation of an Asimo-like humanoid robot. To our knowledge, this is the first implementation of a controller that attempts to change the fall direction of a humanoid robot. Honda Research Institute USA, Inc. 2012-10-25T20:00:53Z 2012-10-25T20:00:53Z 2009-08 2009-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-2788-8 http://hdl.handle.net/1721.1/74260 Yun, Seung-kook, Ambarish Goswami, and Yoshiaki Sakagami. “Safe Fall: Humanoid Robot Fall Direction Change Through Intelligent Stepping and Inertia Shaping.” IEEE International Conference on Robotics and Automation (2009). 781–787. © 2012 IEEE en_US http://dx.doi.org/ 10.1109/ROBOT.2009.5152755 Proceedings of the 2009 IEEE International Conference on Robotics and Automation Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers (IEEE) IEEE |
| spellingShingle | Yun, Seung-kook Goswami, Ambarish Sakagami, Yoshiaki Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
| title | Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
| title_full | Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
| title_fullStr | Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
| title_full_unstemmed | Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
| title_short | Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping |
| title_sort | safe fall humanoid robot fall direction change through intelligent stepping and inertia shaping |
| url | http://hdl.handle.net/1721.1/74260 |
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