Piecewise-linear pattern generator and reflex system for humanoid robots

Riadh Zaier, Shinji Kanda

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

19 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages2188-2195
Number of pages8
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

Keywords

  • Humanoid robot
  • Linear oscillator
  • Motion generation
  • Piecewise-linear function
  • Reflexes
  • Rhythmic motion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Zaier, R., & Kanda, S. (2007). Piecewise-linear pattern generator and reflex system for humanoid robots. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 2188-2195). [4209409] https://doi.org/10.1109/ROBOT.2007.363645