Real-Time stabilization of a falling humanoid robot using hand contact: An optimal control approach

Shihao Wang, Kris Hauser

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

Abstract

This paper introduces a real-Time strategy to stabilize a falling humanoid robot by making hand contact with rails or walls in the environment. It uses an optimal control strategy with a simplified three-link model and finds an optimal hand contact using a direct shooting method. The objective function is designed to maintain stability while minimizing the probability of the contact slipping and minimizing impact that may damage the robot's arm. To achieve real-Time performance, the method uses a precomputed database of necessary sticking friction coefficients at the contact points for all possible postimpact states. Validation is performed on a number of simulated falls in several rails and walls.

Original languageEnglish (US)
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PublisherIEEE Computer Society
Pages454-460
Number of pages7
ISBN (Electronic)9781538646786
DOIs
StatePublished - Dec 22 2017
Externally publishedYes
Event17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 - Birmingham, United Kingdom
Duration: Nov 15 2017Nov 17 2017

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
CountryUnited Kingdom
CityBirmingham
Period11/15/1711/17/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Wang, S., & Hauser, K. (2017). Real-Time stabilization of a falling humanoid robot using hand contact: An optimal control approach. In 2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017 (pp. 454-460). (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2017.8246912