Post-Failure Actions in Humanoids

Abstract

The need for robots to cope with unstructured environments and replace humans in hazardous tasks became an important virtue. Humanoids are naturally highlighted for their potential capability to access to unstructured and uncertain environments. However, one of the significant barriers to practically operate the robot is the difficulty to avoid failure situation such as fall-over and faults in actuation systems. The robots are compulsory to sustain minimal damages and autonomously recover by itself for seamlessly accomplishing their tasks without human intervention. In this regard, this talk will offer a brief view on the research trend of post-failure controls, and introduce recent control strategies which allow the robot to reactively generate the entire body motion to protect and recover itself after failures.