TY - GEN
T1 - Piecewise-linear pattern generator and reflex system for humanoid robots
AU - Zaier, Riadh
AU - Kanda, Shinji
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Humanoid robot
KW - Linear oscillator
KW - Motion generation
KW - Piecewise-linear function
KW - Reflexes
KW - Rhythmic motion
UR - http://www.scopus.com/inward/record.url?scp=36348991952&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=36348991952&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2007.363645
DO - 10.1109/ROBOT.2007.363645
M3 - Conference contribution
AN - SCOPUS:36348991952
SN - 1424406021
SN - 9781424406029
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2188
EP - 2195
BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
T2 - 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Y2 - 10 April 2007 through 14 April 2007
ER -