NDLI: Biologically Inspired Reflex Based Stabilization Control of a Humanoid Robot with Artificial SMA Muscles

Content Provider	IEEE Xplore Digital Library
Author	Kratz, R. Klug, S. Stelzer, M. von Stryk, O.
Copyright Year	2006
Description	Author affiliation: Simulation & Syst. Optimization Group, Tech. Univ. Darmstadt, Darmstadt (Kratz, R.; Klug, S.; Stelzer, M.; von Stryk, O.)
Abstract	Suddenly occurring collisions or unintentional motions represent a high safety risk in robotics and must be prevented. Especially for humanoid robots, the influence of disturbances that occur unexpectedly during bipedal locomotion are difficult to compensate. A model based online control approach for stabilization of a humanoid robot with many degrees of freedom may require too much time for computing and implementing an adequate compensating motion. In addition, such a control approach usually requires accurate sensor information about the type and magnitude of the disturbance. The goal of the present paper is a reflex based online stabilization control of a humanoid robot actuator based on artificial SMA muscles. The design of a humanoid robot actuated with SMA muscles allows a lightweight robot design and simplifies the direct implementation of reflexes. The reflex that is integrated into the robot depends on an evaluation of the pressure distribution of the feet. An instable position of the center of mass of the robot leads to a known specific pressure disturbance that should be avoided. The experiments show that the implementation of a reflex for the actuators in the calf leads to a stabilization of the entire robot. Additional reflexes are required when the strength or speed of disturbances are increased, such as in the upper leg or arms.
Starting Page	1089
Ending Page	1094
File Size	868904
Page Count	6
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340080
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Biological control systems Humanoid robots Muscles Actuators Safety Biological system modeling Motion control Robot sensing systems Leg Arm humanoid robot biologically inspired stabilization reflex SMA wire bundle actuator artificial muscle
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
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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