T. Shimizu, R. Saegusa, Shuhei Ikemoto, H. Ishiguro, G. Metta
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Adaptive self-protective motion based on reflex control
This paper describes a self-protective whole-body control method for humanoid robots. A set of postural reactions are used to create whole-body movements. A set of reactions is merged to cope with a general falling down direction, while allowing the upper limbs to contact safely with obstacles. The collision detection is achieved by force sensing. We verified that our method generates the self-protective motion in real time, and reduced the impact energy in multiple situations by simulator. We also verified that our systems works adequately in real-robot.
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