Li, Z, Zhou, C orcid.org/0000-0002-6677-0855, Castano, J et al. (4 more authors) (2015) Fall Prediction of Legged Robots Based on Energy State and Its Implication of Balance Augmentation: A Study on the Humanoid. In: Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA). 2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, WA, USA. IEEE , pp. 5094-5100. ISBN 978-1-4799-6923-4
Abstract
In this paper, we propose an Energy based Fall Prediction (EFP) which observes the real-time balance status of a humanoid robot during standing. The EFP provides an analytic and quantitative measure of the level of balance. Both simulation and experimental studies were conducted and compared with the previously proposed indicators, such as Capture Point (CP) and Foot Rotation Indicator (FRI). The EFP also suggests the balance augmentation by active foot tilting to create larger potential barriers. As a proof of concept, a hybrid balance controller was designed to stabilize the robot including under-actuation phases so the robot can also balance with shoes. Our study reveals that both EFP and CP successfully predict falling about 0.2s in advance for the tested robot, while the FRI fails due to the light weight of the foot and limited resolution of the force/torque measurement.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Keywords: | Foot; Torque; Radio frequency; Mechanical energy; Predictive models; Robot kinematics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 16 Jul 2019 09:45 |
Last Modified: | 16 Jul 2019 09:45 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ICRA.2015.7139908 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:144467 |