Abstract
This paper deals with reflexes against sudden obstacles for humanoid robots, which are combined with a proposed piecewise-linear pattern generator. The reflex action consists of modulating the motors' commands by the outputs of the force sensors located under the robot legs, and through a given primitive neural network previously proposed. Eventually, the primitive reflex is modified by the afferent signals to be more adaptable and robust against sudden obstacles. The final reflex structure enables the response of the sensory signals to be coordinated and modulated with locomotion controller's outputs to achieve an intended stabilizing behavior of the robot. The effectiveness of the proposed reflex is demonstrated by experiment using Fujitsu's humanoid robot HOAP-3. It is shown that the primitive reflex movement previously proposed becomes robust against sudden obstacle that hits the robot sole plate at different locations. The proposed reflex system, therefore, contributes towards the safer interaction of the humanoid robot with the environment.
| Original language | English |
|---|---|
| Title of host publication | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
| Pages | 2492-2497 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France Duration: Sep 22 2008 → Sep 26 2008 |
Other
| Other | 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS |
|---|---|
| Country | France |
| City | Nice |
| Period | 9/22/08 → 9/26/08 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Adaptive locomotion controller and reflex system for humanoid robots. / Zaier, Riadh; Kanda, Shinji.
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2492-2497 4650738.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive locomotion controller and reflex system for humanoid robots
AU - Zaier, Riadh
AU - Kanda, Shinji
PY - 2008
Y1 - 2008
N2 - This paper deals with reflexes against sudden obstacles for humanoid robots, which are combined with a proposed piecewise-linear pattern generator. The reflex action consists of modulating the motors' commands by the outputs of the force sensors located under the robot legs, and through a given primitive neural network previously proposed. Eventually, the primitive reflex is modified by the afferent signals to be more adaptable and robust against sudden obstacles. The final reflex structure enables the response of the sensory signals to be coordinated and modulated with locomotion controller's outputs to achieve an intended stabilizing behavior of the robot. The effectiveness of the proposed reflex is demonstrated by experiment using Fujitsu's humanoid robot HOAP-3. It is shown that the primitive reflex movement previously proposed becomes robust against sudden obstacle that hits the robot sole plate at different locations. The proposed reflex system, therefore, contributes towards the safer interaction of the humanoid robot with the environment.
AB - This paper deals with reflexes against sudden obstacles for humanoid robots, which are combined with a proposed piecewise-linear pattern generator. The reflex action consists of modulating the motors' commands by the outputs of the force sensors located under the robot legs, and through a given primitive neural network previously proposed. Eventually, the primitive reflex is modified by the afferent signals to be more adaptable and robust against sudden obstacles. The final reflex structure enables the response of the sensory signals to be coordinated and modulated with locomotion controller's outputs to achieve an intended stabilizing behavior of the robot. The effectiveness of the proposed reflex is demonstrated by experiment using Fujitsu's humanoid robot HOAP-3. It is shown that the primitive reflex movement previously proposed becomes robust against sudden obstacle that hits the robot sole plate at different locations. The proposed reflex system, therefore, contributes towards the safer interaction of the humanoid robot with the environment.
UR - http://www.scopus.com/inward/record.url?scp=69549134251&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549134251&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650738
DO - 10.1109/IROS.2008.4650738
M3 - Conference contribution
SN - 9781424420582
SP - 2492
EP - 2497
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -