Stepping to recover: A 3D-LIPM based push recovery and fall management scheme for biped robots

Yasin, Awais; Huang, Qiang; Xu, Qian; Syed, Amjad Ali

doi:10.1109/robio.2012.6490986

Cited by 5 publications

(4 citation statements)

References 13 publications

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“…Despite researchers' best efforts, some conditions that may arise during walking are simply irrecoverable. For these, other groups have studied how to minimize potential damage to the system [23,24].…”

Section: Discussionmentioning

confidence: 99%

Biped Gait Stability Classification Based on the Predicted Step Viability

Parik-Americano,

Igual,

Driemeier

et al. 2024

Biomimetics

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In this paper, we address the challenge of ensuring stability in bipedal walking robots and exoskeletons. We explore the feasibility of real-time implementation for the Predicted Step Viability algorithm (PSV), a complex multi-step optimization criterion for planning future steps in bipedal gait. To overcome the high computational cost of the PSV algorithm, we performed an analysis using 11 classification algorithms and a stacking strategy to predict if a step will be stable or not. We generated three datasets of increasing complexity through PSV simulations to evaluate the classification performance. Among the classifiers, k Nearest Neighbors, Support Vector Machine with Radial Basis Function Kernel, Decision Tree, and Random Forest exhibited superior performance. Multi-Layer Perceptron also consistently performed well, while linear-based algorithms showed lower performance. Importantly, the use of stacking did not significantly improve performance. Our results suggest that the feature vector applied with this approach is applicable across various robotic models and datasets, provided that training data is balanced and sufficient points are used. Notably, by leveraging classifiers, we achieved rapid computation of results in less than 1 ms, with minimal computational cost.

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Section: Discussionmentioning

confidence: 99%

Biped Gait Stability Classification Based on the Predicted Step Viability

Parik-Americano,

Igual,

Driemeier

et al. 2024

Biomimetics

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“…Choosing how to fall means assuming a proper configuration for reducing the effect of the impact with the floor. Fujiwara et al (2003Fujiwara et al ( , 2004 present a controller that limits the impact force, based on the idea of lowering the CoM as soon as possible by crouching or knee-bending; Yasin et al (2012) use a similar approach to manage forward or backward falls. Braghin et al (2019) compute whole-body trajectories aimed at minimizing damage due to falling through an optimization-based control strategy.…”

Section: Self-protectmentioning

confidence: 99%

A behavior-based framework for safe deployment of humanoid robots

et al. 2021

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We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation of these behaviors is triggered by information coming from the robot sensors and is handled by a state machine. The implementation of our safety framework is discussed with respect to a reference control architecture. In particular, it is shown that an MPC-based gait generator is ideal for realizing all behaviors related to locomotion. Simulation and experimental results on the HRP-4 and NAO humanoids, respectively, are presented to confirm the effectiveness of the proposed method.

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“…In this case, equation (16) can be solved, to give the third derivative of the tilting angle ... Ψ as a function of the horizontal position and acceleration of the two CoM, (12)- (14) and using (9)-(11), we can finally obtain the tilting angle, speed and acceleration as a function of the third-derivative of the motion of the two CoM, ... B…”

Section: A Sampled Dynamics and Predictionmentioning

confidence: 99%

“…In the case of biped humanoid robots, strong disturbances can be absorbed by adapting the motion of the CoM, or by realizing adequate steps [11], [12], [13], [14], [15], [16], [17]. But in both cases, the dynamics of the biped robots is not particularly changing.…”

Section: Introductionmentioning

confidence: 99%

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

Lafaye

Collette

Wieber

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The goal of this paper is to present a real-time controller for an omnidirectional wheeled humanoid robot which can be strongly disturbed and tilt around its wheels. It is based on two linear model predictive controllers, managed by a tilt supervisor, which detects changes of the dynamic model caused by the tilt of the robot. Experimental results are proposed on the robot Pepper made by Aldebaran, showing good performance in term of stability an robustness.

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Stepping to recover: A 3D-LIPM based push recovery and fall management scheme for biped robots

Cited by 5 publications

References 13 publications

Biped Gait Stability Classification Based on the Predicted Step Viability

Biped Gait Stability Classification Based on the Predicted Step Viability

A behavior-based framework for safe deployment of humanoid robots

Model predictive control for tilt recovery of an omnidirectional wheeled humanoid robot

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