Adaptive locomotion controller and reflex system for humanoid robots

Riadh Zaier, Shinji Kanda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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 languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2492-2497
Number of pages6
DOIs
Publication statusPublished - 2008
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice, France
Duration: Sep 22 2008Sep 26 2008

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CountryFrance
CityNice
Period9/22/089/26/08

Fingerprint

Robots
Controllers
Neural networks
Sensors
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Zaier, R., & Kanda, S. (2008). Adaptive locomotion controller and reflex system for humanoid robots. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2492-2497). [4650738] https://doi.org/10.1109/IROS.2008.4650738

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 proceedingConference contribution

Zaier, R & Kanda, S 2008, Adaptive locomotion controller and reflex system for humanoid robots. in 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 4650738, pp. 2492-2497, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Nice, France, 9/22/08. https://doi.org/10.1109/IROS.2008.4650738
Zaier R, Kanda S. Adaptive locomotion controller and reflex system for humanoid robots. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. p. 2492-2497. 4650738 https://doi.org/10.1109/IROS.2008.4650738
Zaier, Riadh ; Kanda, Shinji. / Adaptive locomotion controller and reflex system for humanoid robots. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2008. pp. 2492-2497
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