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A novel approach for humanoid push recovery using stereopsis

Published online by Cambridge University Press:  07 August 2013

Mohammad-Ali Nikouei Mahani ,
Shahram Jafari  and
Hadi Rahmatkhah
Mohammad-Ali Nikouei Mahani
Affiliation:
School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran
Shahram Jafari*
Affiliation:
School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran
Hadi Rahmatkhah
Affiliation:
School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran
*
*Corresponding author. E-mail: jafaris@shirazu.ac.ir
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Summary

Push recovery is one of the most challenging problems for the current humanoid robots. The importance of push recovery can be well observed in the real environment. The critical issue for a humanoid is to maintain and recover its balance against any disturbances. In this research a new stereovision approach is proposed to estimate the robot deviation angle and consequently, the movement of center of mass of the robot is calculated. Then, two novel strategies have been devised to recover the balance of the humanoid which are called “knee strategy” and “knee-hip strategy.” Also, a mathematical model validates the efficiency of the proposed strategies as demonstrated in the paper. Experiments have been conducted on a humanoid robot and demonstrate that the predicted robot deviation angle, using stereovision technique, converges to the actual deviation angle. Stable regions of proposed strategies illustrate that the humanoid can recover its stability in a robust manner. Vision-based estimation also shows a higher correlation to actual deviation angle and a lower fluctuation compared with the output of the acceleration sensor.

Keywords

Humanoid robotPush recoveryStereovision techniqueOptical flowDeviation angleKnee strategyKnee-hip strategy
Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014 , pp. 413 - 431
Copyright
Copyright © Cambridge University Press 2013 

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