Gait Transition Between Standing and Falling Down for a Humanoid Robot

In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.

[1]  Kazuhito Yokoi,et al.  UKEMI: falling motion control to minimize damage to biped humanoid robot , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Miomir Vukobratovic,et al.  Zero-Moment Point - Thirty Five Years of its Life , 2004, Int. J. Humanoid Robotics.

[3]  Nur Khamdi,et al.  Technique of Standing Up From Prone Position of a Soccer Robot , 2018 .

[4]  Qiang Huang,et al.  Design of Crawling Motion for a Biped Walking Humanoid with 3-DoF Rigid-Flexible Waist , 2018, 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids).

[5]  Jun Morimoto,et al.  Acquisition of stand-up behavior by a real robot using hierarchical reinforcement learning , 2000, Robotics Auton. Syst..

[6]  Sven Behnke,et al.  Humanoid TeenSize Open Platform NimbRo-OP , 2013, RoboCup.

[7]  Shuuji Kajita,et al.  Impact acceleration of falling humanoid robot with an airbag , 2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

[8]  Masayuki Inaba,et al.  Development of life-sized humanoid robot platform with robustness for falling down, long time working and error occurrence , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[9]  Shuuji Kajita,et al.  Towards an Optimal Falling Motion for a Humanoid Robot , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[10]  Qiang Huang,et al.  Rolling motion generation of multi-points contact for a humanoid robot , 2016, 2016 International Conference on Advanced Robotics and Mechatronics (ICARM).

[11]  Jörg Stückler,et al.  Getting Back on Two Feet: Reliable Standing-up Routines for a Humanoid Robot , 2006, IAS.

[12]  Yunhui Liu,et al.  Bio-inspired falling motion control for a biped humanoid robot , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[13]  Qiang Huang,et al.  A Falling Motion Strategy for Humanoids Based on Motion Primitives of Human Falling , 2017, RAAD.

[14]  Kazuhito Yokoi,et al.  The first humanoid robot that has the same size as a human and that can lie down and get up , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[15]  Abderrahmane Kheddar,et al.  Falls control using posture reshaping and active compliance , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).