Journal of South China University of Technology (Natural Science Edition) ›› 2017, Vol. 45 ›› Issue (1): 95-101.doi: 10.3969/j.issn.1000-565X.2017.01.014

• Computer Science & Technology • Previous Articles     Next Articles

Falling Detection and Control of Humanoid Robots Based on Multi-Sensor Information Fusion

BI Sheng1 LIU Hao-xi1 MIN Hua-qing2 DONG Min1 HUANG Xin-long1   

  1. 1.School of Computer Science and Engineering,South China University of Technology,Guangzhou 510006,Guangdong,China; 2.School of Software,South China University of Technology,Guangzhou 510006,Guangdong,China
  • Received:2016-01-04 Revised:2016-07-18 Online:2017-01-25 Published:2016-12-01
  • Contact: 毕盛( 1978-) ，男，博士，副教授，主要从事智能仿人机器人研究 E-mail:picy@scut.edu.cn
  • About author:毕盛( 1978-) ，男，博士，副教授，主要从事智能仿人机器人研究
  • Supported by:
    Supported by the Industry-University-Research Joint Project of Guangdong Province and the Ministry of Education ( 2013B090500093) ， the Science and Technology Planning Projects of Guangdong Province( 2015A020219001) and the General Program of the National Natural Science Foundation of China( 61372140)

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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

CLC Number: