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A Simple Momentum Controller for Humanoid Push Recovery

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Advances in Robotics (FIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

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Abstract

While working in a dynamic environment, humanoid robots are subject to unknown forces and disturbances, putting them at risk of falling down and damaging themselves. One mechanism by which humans avoid falling under similar conditions is the human momentum reflex. Although such systems have been devised, the processing requirements are too high to be implemented on small humanoids having microcontroller processing capabilities. This paper presents a simplified momentum controller for fall avoidence. The system is tested on a simulated robot developed under Gazebo as well as under a real humanoid. Results show successful fall avoidance.

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Author information

Authors and Affiliations

  1. Mechanical Engineering Department, American University of Beirut, Beirut, Lebanon

    Bassam Jalgha & Daniel C. Asmar

Authors
  1. Bassam Jalgha
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  2. Daniel C. Asmar
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Editor information

Editors and Affiliations

  1. Dept. of Electrical Engineering and Computer Science, Korea Advanced Institute of Science and Technology, South Korea

    Jong-Hwan Kim

  2. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  3. National University of Singapore, Singapore

    Prahlad Vadakkepat  & Abdullah Al Manum  & 

  4. Technische Universität Dortmund, Germany

    Norbert Jesse

  5. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, P.O. Box, 117576, Singapore

    Sadasivan Puthusserypady K

  6. Institut für Informatik/I12, Technische Universität München, Boltzmannstr. 3,, D-85748, Garching b. München, Germany

    Ulrich Rückert

  7. School of Software Engineering and Data Communications, Queensland University of Technology, P.O. Box, Brisbane, Australia

    Joaquin Sitte

  8. Heinz Nixdorf Institute, University of Paderborn, P.O. Box, Paderborn, Germany

    Ulf Witkowski

  9. Interactive & Digital Media Institute, National University of Singapore, Blk E3A #02-04, 7 Engineering Drive 1, 117574, Singapore

    Ryohei Nakatsu

  10. University of Manitoba, R3T 2N2, Winnipeg, MB, Canada

    Jacky Baltes

  11. Autonomous Agents Laboratory, Department of Computer Science, University of Manitoba, P.O. Box, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  12. Dept. of Education in Technology & Science, Technion - Israel Institute of Technology, 32000, Haifa, Israel

    Igor Verner

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© 2009 Springer-Verlag Berlin Heidelberg

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Jalgha, B., Asmar, D.C. (2009). A Simple Momentum Controller for Humanoid Push Recovery. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_14

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  • DOI: https://doi.org/10.1007/978-3-642-03983-6_14

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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