Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body

Kiyohiro Araki; Takanobu Miwa; Hiroki Shigemune; Shuji Hashimoto; Hideyuki Sawada

doi:10.1109/IECON.2018.8591360

Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body

Kiyohiro Araki, Takanobu Miwa, Hiroki Shigemune, Shuji Hashimoto, Hideyuki Sawada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3292-3297
Number of pages	6
ISBN (Electronic)	9781509066841
DOIs	https://doi.org/10.1109/IECON.2018.8591360
Publication status	Published - 2018 Dec 26
Event	44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States Duration: 2018 Oct 20 → 2018 Oct 23

Publication series

Name	Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference	44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Country/Territory	United States
City	Washington
Period	18/10/20 → 18/10/23

Keywords

Ground-contacting state
Humanoid robot
Sensing system
Standing-up control

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering
Industrial and Manufacturing Engineering
Control and Optimization

Access to Document

10.1109/IECON.2018.8591360

Cite this

Araki, K., Miwa, T., Shigemune, H., Hashimoto, S., & Sawada, H. (2018). Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 3292-3297). Article 8591360 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591360

Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body. / Araki, Kiyohiro; Miwa, Takanobu; Shigemune, Hiroki et al.
Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3292-3297 8591360 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Araki, K, Miwa, T, Shigemune, H, Hashimoto, S & Sawada, H 2018, Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body. in Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society., 8591360, Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Institute of Electrical and Electronics Engineers Inc., pp. 3292-3297, 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018, Washington, United States, 18/10/20. https://doi.org/10.1109/IECON.2018.8591360

Araki K, Miwa T, Shigemune H, Hashimoto S, Sawada H. Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2018. p. 3292-3297. 8591360. (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2018.8591360

Araki, Kiyohiro ; Miwa, Takanobu ; Shigemune, Hiroki et al. / Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body. Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 3292-3297 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).

@inproceedings{c7327d03393445a1b06ea40b6a7dd487,

title = "Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body",

abstract = "In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.",

keywords = "Ground-contacting state, Humanoid robot, Sensing system, Standing-up control",

author = "Kiyohiro Araki and Takanobu Miwa and Hiroki Shigemune and Shuji Hashimoto and Hideyuki Sawada",

year = "2018",

month = dec,

day = "26",

doi = "10.1109/IECON.2018.8591360",

language = "English",

series = "Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3292--3297",

booktitle = "Proceedings",

note = "44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 ; Conference date: 20-10-2018 Through 23-10-2018",

}

TY - GEN

T1 - Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body

AU - Araki, Kiyohiro

AU - Miwa, Takanobu

AU - Shigemune, Hiroki

AU - Hashimoto, Shuji

AU - Sawada, Hideyuki

PY - 2018/12/26

Y1 - 2018/12/26

N2 - In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.

AB - In this paper, we propose a novel method for a humanoid robot to recover its standing posture from different fallen postures. In the proposed method, the robot estimates its posture using the ground-contacting information, which is sensed by the joint angle information and pressure sensors attached to the whole body. Then, the robot searches a motion sequence based on the estimated posture to stand up. The robot preserves every successful motion sequence into the tree structure to be reused in the next time. To verify the proposed algorithm, we conducted evaluation experiments by employing a real robot. The results show that the proposed method enables the robot to successfully search the motion sequence for standing up from the fallen posture.

KW - Ground-contacting state

KW - Humanoid robot

KW - Sensing system

KW - Standing-up control

UR - http://www.scopus.com/inward/record.url?scp=85061553658&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85061553658&partnerID=8YFLogxK

U2 - 10.1109/IECON.2018.8591360

DO - 10.1109/IECON.2018.8591360

M3 - Conference contribution

AN - SCOPUS:85061553658

T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

SP - 3292

EP - 3297

BT - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018

Y2 - 20 October 2018 through 23 October 2018

ER -

Standing-up control of a fallen humanoid robot based on the ground-contacting state of the body

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this