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Ankle and hip strategies for balance recovery of a biped subjected to an impact

Published online by Cambridge University Press:  01 September 2008

Dragomir N. Nenchev  and
Akinori Nishio
Dragomir N. Nenchev*
Affiliation:
Department of Mechanical Systems Engineering, Musashi Institute of Technology, Tokyo 158-8557, Japan
Akinori Nishio
Affiliation:
Department of Mechanical Systems Engineering, Musashi Institute of Technology, Tokyo 158-8557, Japan
*
*Corresponding author. E-mail: nenchev@sc.musashi-tech.ac.jp
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Summary

A humanoid robot should be able to keep balance even in the presence of disturbing forces. Studies of human body reaction patterns to sudden external forces (impacts) are useful for developing balance control strategies. In this paper, we show how to implement two such reaction patterns, called ankle and hip strategy, using a small humanoid robot. Simple dynamical models in the sagittal plane are employed. The decision for invoking one of the reaction patterns is based on acceleration data measured during the impact. The experiments confirm that the robot is able to react swiftly, similar to a human.

Keywords

biped robotexternal disturbancebalance recoveryreaction null-space method
Type
Article
Information
Robotica , Volume 26 , Issue 5 , September 2008 , pp. 643 - 653
Copyright
Copyright © Cambridge University Press 2008

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