NDLI: Piecewise-Linear Pattern Generator and Reflex System for Humanoid Robots

Content Provider	IEEE Xplore Digital Library
Author	Zaier, R. Kanda, S.
Copyright Year	2007
Description	Author affiliation: Autonomous Syst. Lab., Fujitsu Labs. Ltd., Atsugi (Zaier, R.; Kanda, S.)
Abstract	Reflexes have been viewed as integrated motions with the centrally generated motors commands to produce adaptive movement. In this paper, a walking pattern generator for humanoid robots based on piecewise linear functions and inspired by passive walking is considered. To deal with lateral and frontal disturbances, sensory feedback is realized based on the inverse pendulum model. The reflex system that highly adapts and controls the movement of the humanoid robot, when a large disturbance occurs, is combined with the motion pattern generator and proposed in a unified form with regards to three types of sudden events. Experiments using Fujitsu's humanoid robot HOAP-3 demonstrate that a reflex movement is successfully integrated with the rhythmic motion when there are sudden changes in floor level, when obstacles suddenly appear, and in the presence of a large disturbance. The proposed reflex system therefore contributes toward the safe interaction of humanoid robots with the environment.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	2188
Ending Page	2195
File Size	1088186
Page Count	8
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363645
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Piecewise linear techniques Humanoid robots Legged locomotion Signal generators Stability Oscillators Robot sensing systems Laboratories Motion control Control systems Linear oscillator Humanoid robot Reflexes Rhythmic motion Motion generation Piecewise-linear function
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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