2012 Special Issue: Self-protective whole body motion for humanoid robots based on synergy of global reaction and local reflex

Authors:
Toshihiko Shimizu;Ryo Saegusa;Shuhei Ikemoto;Hiroshi Ishiguro;Giorgio Metta
Affiliations:
Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego, 30 16163 Genova, Italy and Department of Systems Innovation, Graduate School of Engineering Scien ...;Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego, 30 16163 Genova, Italy;Department of Multimedia Engineering, Graduate School of Information Science and Technology, Osaka University, E6-411 2-1 Yamada-oka Suita Osaka, Japan;Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama Toyonaka Osaka 560-8531, Japan;Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego, 30 16163 Genova, Italy
Venue:
Neural Networks
Year:
2012

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Abstract

This paper describes a self-protective whole body motor controller to enable life-long learning of humanoid robots. In order to reduce the damages on robots caused by physical interaction such as obstacle collision, we introduce self-protective behaviors based on the adaptive coordination of full-body global reactions and local limb reflexes. Global reactions aim at adaptive whole-body movements to prepare for harmful situations. The system incrementally learns a more effective association of the states and global reactions. Local reflexes based on a force-torque sensing function to reduce the impact load on the limbs independently of high-level motor intention. We examined the proposed method with a robot simulator in various conditions. We then applied the systems on a real humanoid robot.