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Hierarchical fall avoidance strategy for small-scale humanoid robots

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4 Author(s)
Bassam Jalgha ; Mechanical Engineering Department, American University of Beirut, Beirut, P.O. Box 11-0236 Lebanon ; Daniel Asmar ; Elie Shammas ; Imad Elhajj

Ankle, momentum, and/or take-a-step strategies constitute different schemes that a humanoid robot may take to avoid falling, where each strategy has a different energy overhead associated to it. To minimize energy consumption it is important to know when each of these strategies can be applied and yet be effective at preventing a fall. This paper is a continuation of our previous work on the development of a hierarchical fall avoidance approach for humanoid robots. While ankle and hip strategies were previously developed, here we develop a decision surface for a stepping strategy that determines at the onset of a disturbance if by taking a step falling can be avoided. Experiments are conducted on the Webots simulator to validate the theory.

Published in:

Robotics and Biomimetics (ROBIO), 2012 IEEE International Conference on

Date of Conference:

11-14 Dec. 2012