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

Fingerprint

Robots
Sensory feedback
Pendulums
Experiments

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

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

Piecewise-linear pattern generator and reflex system for humanoid robots. / Zaier, Riadh; Kanda, Shinji.

2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 2188-2195 4209409.

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

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., 4209409, pp. 2188-2195, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.363645
Zaier R, Kanda S. Piecewise-linear pattern generator and reflex system for humanoid robots. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 2188-2195. 4209409 https://doi.org/10.1109/ROBOT.2007.363645
Zaier, Riadh ; Kanda, Shinji. / Piecewise-linear pattern generator and reflex system for humanoid robots. 2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. pp. 2188-2195
@inproceedings{66fd44ee7fb043d1a6bff2f6336eab1e,
title = "Piecewise-linear pattern generator and reflex system for humanoid robots",
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.",
keywords = "Humanoid robot, Linear oscillator, Motion generation, Piecewise-linear function, Reflexes, Rhythmic motion",
author = "Riadh Zaier and Shinji Kanda",
year = "2007",
doi = "10.1109/ROBOT.2007.363645",
language = "English",
isbn = "1424406021",
pages = "2188--2195",
booktitle = "2007 IEEE International Conference on Robotics and Automation, ICRA'07",

}

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

SN - 1424406021

SN - 9781424406029

SP - 2188

EP - 2195

BT - 2007 IEEE International Conference on Robotics and Automation, ICRA'07

ER -