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ICRA
2010
IEEE

Generalized direction changing fall control of humanoid robots among multiple objects

13 years 2 months ago
Generalized direction changing fall control of humanoid robots among multiple objects
— Humanoid robots are expected to share human environments in the future and it is important to ensure safety of their operation. A serious threat to safety is the fall of a humanoid robot, which can seriously damage both the robot and objects in its surrounding. This paper proposes a strategy for planning and control of fall. The controller’s objective is to prevent the robot from hitting surrounding objects during a fall by modifying its default fall direction. We have earlier presented such a direction-changing fall controller in [1]. However, the controller was applicable only when the robot’s surrounding contained a single object. In this paper we introduce a generalized approach to humanoid falldirection control among multiple objects. This new framework algorithmically establishes a desired fall direction through assigned scores, considers a number of control options, and selects and executes the best strategy. The fall planner is also able to select “No Action” as the...
Umashankar Nagarajan, Ambarish Goswami
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Umashankar Nagarajan, Ambarish Goswami
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