NDLI: A hybrid ankle/hip preemptive falling scheme for humanoid robots

Content Provider	IEEE Xplore Digital Library
Author	Jalgha, B. Asmar, D. Elhajj, I.
Copyright Year	2011
Description	Author affiliation: Faculty of Engineering and Architecture, Mechanical Engineering, American University of Beirut, 1107 2020, Riad El Solh, Lebanon (Jalgha, B.; Asmar, D.) \|\| Facutly of Engineering and Architecture, Electrical and Computer Engineering, American University of Beirut, 1107 2020, Riad El Solh, Lebanon (Elhajj, I.)
Abstract	If we are to one day rely on robots as assistive devices they should be capable of mitigating the impact of random disturbances and avoid falling. Humans are surprisingly apt at remaining on their feet when pushed; they rely on reflexes such as bending the ankles and/or the hips, or by taking a step if the magnitude of the disturbance is relatively large. This paper presents a fall avoidance scheme that is capable of applying both ankle and hip strategies on a humanoid robot. While both strategies serve the same purpose, the hip strategy can absorb larger disturbances but has a higher energy overhead and should be avoided when it is not necessary. Our system is capable of detecting at the onset of a disturbance if an ankle or hip strategy is more appropriate. The decision is taken based on a “decision surface” that is delimited by threshold values of the robot's state variables. The control is based on the intuitive Virtual Model Control (VMC) approach. The system is tested on a simulated robot developed under Gazebo. Results show successful fall avoidance with an ability to choose the optimum fall avoidance strategy
Starting Page	1256
Ending Page	1262
File Size	1230473
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979554
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Hip Joints Foot Torque Humans Springs
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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