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Study on falling backward of humanoid robot based on dynamic multi objective optimization

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Abstract

Humanoid robots generally have the problem of losing balance and falling down when voltage of joints decreases, which results in damage of hardware devices like mechanical structure and circuit control board. In order to deal with this problem, we simplified the stable control model of a humanoid robot into a quadruple inverted pendulum, corresponding to the robot’s shanks, thighs, torso, and arms, and regarded the bipedal locomotion in the horizontal direction as the movement of cart foundation of the inverted pendulum. We analyzed differential equations of motion and conditions of the complete stability of the quadruple inverted pendulum, imitated and performed falling down of human with protective postures. Combining with kinematics and physical constraints, we implemented a dynamic multi objective optimization algorithm to optimize the angles and angular speed of each joints. This helped the deceleration of the robot’s falling down process and reduced the ground impact force that achieved minimum momentum consumption and immediate stabilization after robot falling down, which can mitigate the damage of the robot’s hardware devices. We did simulation experiments and verified the effectiveness of the method.

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Acknowledgements

All authors declare that: (i) no support, financial or otherwise, has been received from any organization that may have an interest in the submitted work; and (ii) there are no other relationships or activities that could appear to have influenced the submitted work.

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Authors and Affiliations

  1. School of Computer Science, Harbin Institute of Technology, Harbin, 150001, China

    Lin Chang, Songhao Piao & Xiaokun Leng

  2. Leju (Shenzhen) Robotics, Shenzhen, 518057, China

    Lin Chang, Xiaokun Leng & Yunqiang Hu

  3. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, ShenZhen, 518055, China

    Yunqiang Hu & Wende Ke

Authors
  1. Lin Chang
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  2. Songhao Piao
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  3. Xiaokun Leng
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  4. Yunqiang Hu
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  5. Wende Ke
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Correspondence to Songhao Piao.

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This article belongs to the Topical Collection: Special Issue on Future Networking Applications Plethora for Smart Cities

Guest Editors: Mohamed Elhoseny, Xiaohui Yuan, and Saru Kumari

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Chang, L., Piao, S., Leng, X. et al. Study on falling backward of humanoid robot based on dynamic multi objective optimization. Peer-to-Peer Netw. Appl. 13, 1236–1247 (2020). https://doi.org/10.1007/s12083-019-00858-5

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  • DOI: https://doi.org/10.1007/s12083-019-00858-5

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