Skip to Main content Skip to Navigation
New interface
Conference papers

Safe navigation strategies for a biped robot walking in a crowd

Néstor Bohórquez 1 Alexander Sherikov 1 Dimitar Dimitrov 1 Pierre-Brice Wieber 1 
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology, LJK - Laboratoire Jean Kuntzmann
Abstract : Safety needs to be guaranteed before we can introduce robots into our working environments. For a biped robot to navigate safely in a crowd it must maintain balance and avoid collisions. In highly dynamic and unpredictable environments like crowds, collision avoidance is usually interpreted as passive safety, i.e. that the robot can stop before any collision occurs. We show that both balance preservation and passive safety can be analyzed, from the point of view of viability theory, as the ability of the robot to stop safely at some point in the future. This allows us to address both problems with a single model predictive controller with appropriate terminal constraints. We demonstrate that this controller predicts failures (falls and collisions) as early as the duration of the preview horizon. Finally, we propose a new strategy for safe navigation that relaxes the passive safety conditions to allow the robot to avoid a greater number of collisions.
Complete list of metadata

Cited literature [22 references]  Display  Hide  Download
Contributor : Alexander Sherikov Connect in order to contact the contributor
Submitted on : Friday, December 16, 2016 - 4:03:08 PM
Last modification on : Saturday, June 25, 2022 - 8:29:47 PM
Long-term archiving on: : Tuesday, March 28, 2017 - 1:11:07 AM


Files produced by the author(s)




Néstor Bohórquez, Alexander Sherikov, Dimitar Dimitrov, Pierre-Brice Wieber. Safe navigation strategies for a biped robot walking in a crowd. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.379-386, ⟨10.1109/HUMANOIDS.2016.7803304⟩. ⟨hal-01418340⟩



Record views


Files downloads