T. Shimizu, R. Saegusa, Shuhei Ikemoto, H. Ishiguro, G. Metta
{"title":"基于反射控制的自适应自保护运动","authors":"T. Shimizu, R. Saegusa, Shuhei Ikemoto, H. Ishiguro, G. Metta","doi":"10.1109/IJCNN.2011.6033596","DOIUrl":null,"url":null,"abstract":"This paper describes a self-protective whole-body control method for humanoid robots. A set of postural reactions are used to create whole-body movements. A set of reactions is merged to cope with a general falling down direction, while allowing the upper limbs to contact safely with obstacles. The collision detection is achieved by force sensing. We verified that our method generates the self-protective motion in real time, and reduced the impact energy in multiple situations by simulator. We also verified that our systems works adequately in real-robot.","PeriodicalId":415833,"journal":{"name":"The 2011 International Joint Conference on Neural Networks","volume":"14 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Adaptive self-protective motion based on reflex control\",\"authors\":\"T. Shimizu, R. Saegusa, Shuhei Ikemoto, H. Ishiguro, G. Metta\",\"doi\":\"10.1109/IJCNN.2011.6033596\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper describes a self-protective whole-body control method for humanoid robots. A set of postural reactions are used to create whole-body movements. A set of reactions is merged to cope with a general falling down direction, while allowing the upper limbs to contact safely with obstacles. The collision detection is achieved by force sensing. We verified that our method generates the self-protective motion in real time, and reduced the impact energy in multiple situations by simulator. We also verified that our systems works adequately in real-robot.\",\"PeriodicalId\":415833,\"journal\":{\"name\":\"The 2011 International Joint Conference on Neural Networks\",\"volume\":\"14 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2011-10-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 2011 International Joint Conference on Neural Networks\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IJCNN.2011.6033596\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 2011 International Joint Conference on Neural Networks","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IJCNN.2011.6033596","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive self-protective motion based on reflex control
This paper describes a self-protective whole-body control method for humanoid robots. A set of postural reactions are used to create whole-body movements. A set of reactions is merged to cope with a general falling down direction, while allowing the upper limbs to contact safely with obstacles. The collision detection is achieved by force sensing. We verified that our method generates the self-protective motion in real time, and reduced the impact energy in multiple situations by simulator. We also verified that our systems works adequately in real-robot.
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