关键词: 仿人机器人, 控制, 多传感器信息融合, 跌倒检测

Abstract:

When humanoid robots are walking,it is essential to detect in time whether the robots are going to fall,so as to prevent the robots from the falling or reduce the damage from the falling with the help of the corresponding protection actions.In this paper,a multi-sensor information fusion model in the stage of walking is constructed by using attitude sensors ( including an acceleration sensor and a gyroscope) and force sensor resistors ( FSR) .Then,a comprehensive judgment method of the falling detection of a humanoid robot is proposed by adopting fuzzy logic decision method,and the corresponding controllers are designed to detect whether the robot is going to fall.If the falling is unavoidable,the corresponding protection actions will be adopted.Otherwise,if the falling can be avoided,it will be prevented by controlling hip joints.The experimental results of SCUT-I humanoid robot show that the proposed method can detect the moment at which the robot is going to fall,and then prevent the falling by using the stability controller or reduce the damage to the robot by using the falling controller to bring about the corresponding protection actions.

Key words: humanoid robot, control, multi-sensor fusion, falling detection