title: Self-protective whole body motion for humanoid robots based on synergy of global reaction and local reflex.
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.
authors.affiliation: Department of Robotics, Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego, 30 16163 Genova, Italy. shimizu.toshihiko@is.sys.es.osaka-u.ac.jp
authors.forename: Toshihiko
authors.initials: T
authors.lastname: Shimizu
authors.forename: Ryo
authors.initials: R
authors.lastname: Saegusa
authors.forename: Shuhei
authors.initials: S
authors.lastname: Ikemoto
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Ishiguro
authors.forename: Giorgio
authors.initials: G
authors.lastname: Metta
mesh_terms: D000058:Accidental Falls; D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D003617:Dangerous Behavior; D004868:Equipment Failure; D007839:Functional Laterality; D006801:Humans; D007596:Joints / Q000033:anatomy & histology / Q000502:physiology; D035002:Lower Extremity / Q000502:physiology; D009068:Movement / Q000502:physiology*; D012018:Reflex / Q000502:physiology*; D015203:Reproducibility of Results; D012371:Robotics; D012459:Salicylates; D019415:Torque; D034941:Upper Extremity / Q000502:physiology; D014584:User-Computer Interface
chemical_list: D012459:Salicylates; C496892:Magnesium Salicylate