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1 LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier 2 ATR Computational Neuroscience Lab 3 IDH - Interactive Digital Humans LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier

Abstract : We address the problem of humanoid falling witha decoupled strategy consisting of a pre-impact and a post-impact stage. In the pre-impact stage, geometrical reasoningallows the robot to choose appropriate impact points in thesurrounding environment and to adopt a posture to reach themwhile avoiding impact-singularities and preparing for the post-impact. The surrounding environment can be unstructured andmay contain cluttered obstacles. The post-impact stage usesa quadratic program controller that adapts on-line the jointproportional-derivative PD gains to make the robot compliant–to absorb impact and post-impact dynamics, which lowerspossible damage risks. This is done by a new approach incor-porating the stiffness and damping gains directly as decisionvariables in the QP along with the usually-considered variablesof joint accelerations and contact forces. Constraints of the QPprevent the motors from reaching their torque limits duringthe fall. Several experiments on the humanoid robot HRP-4 ina full-dynamics simulator are presented and discussed.

Keywords : humanoid robot safe fall active compliance adaptive qp





Autor: Vincent Samy - Karim Bouyarmane - Abderrahmane Kheddar -

Fuente: https://hal.archives-ouvertes.fr/



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