Bio-inspired falling motion control for a biped humanoid robot

Gan Ma, Qiang Huang, Zhangguo Yu, Xuechao Chen, Kenji Hashimoto, Atsuo Takanishi, Yun Hui Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

Although consistent stability is desirable, a biped humanoid robot encounters a high risk of falling. Such falls may cause serious damage to both the robot and the environment. This study focuses on this issue and investigates four strategies based on human protective falling motion. These strategies are: 'knee flexion', 'torso flexion forward', 'torso translation backward' and 'knee stretched'. First, the effectiveness of the strategies for the safe landing is analyzed from an energy variation perspective of the robot system. The four strategies are used to do negative work that reduced the energy of the robot system, thereby reducing the impact velocity of the robot. Then, a simulation study on a human-sized humanoid robot is conducted to assess the influence of the strategies on safe landing. Finally, based on the simulation results for each strategy, a safe falling motion control method is proposed and validated through simulation.

Original languageEnglish
Title of host publicationIEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages850-855
Number of pages6
Volume2015-February
ISBN (Print)9781479971749
DOIs
Publication statusPublished - 2015 Feb 12
Externally publishedYes
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 2014 Nov 182014 Nov 20

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period14/11/1814/11/20

Fingerprint

Motion control
Robots
Landing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

Cite this

Ma, G., Huang, Q., Yu, Z., Chen, X., Hashimoto, K., Takanishi, A., & Liu, Y. H. (2015). Bio-inspired falling motion control for a biped humanoid robot. In IEEE-RAS International Conference on Humanoid Robots (Vol. 2015-February, pp. 850-855). [7041463] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041463

Bio-inspired falling motion control for a biped humanoid robot. / Ma, Gan; Huang, Qiang; Yu, Zhangguo; Chen, Xuechao; Hashimoto, Kenji; Takanishi, Atsuo; Liu, Yun Hui.

IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society, 2015. p. 850-855 7041463.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ma, G, Huang, Q, Yu, Z, Chen, X, Hashimoto, K, Takanishi, A & Liu, YH 2015, Bio-inspired falling motion control for a biped humanoid robot. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-February, 7041463, IEEE Computer Society, pp. 850-855, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 14/11/18. https://doi.org/10.1109/HUMANOIDS.2014.7041463
Ma G, Huang Q, Yu Z, Chen X, Hashimoto K, Takanishi A et al. Bio-inspired falling motion control for a biped humanoid robot. In IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February. IEEE Computer Society. 2015. p. 850-855. 7041463 https://doi.org/10.1109/HUMANOIDS.2014.7041463
Ma, Gan ; Huang, Qiang ; Yu, Zhangguo ; Chen, Xuechao ; Hashimoto, Kenji ; Takanishi, Atsuo ; Liu, Yun Hui. / Bio-inspired falling motion control for a biped humanoid robot. IEEE-RAS International Conference on Humanoid Robots. Vol. 2015-February IEEE Computer Society, 2015. pp. 850-855
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