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 publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages850-855
Number of pages6
ISBN (Electronic)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

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

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

ASJC Scopus subject areas

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

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  • 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 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (pp. 850-855). [7041463] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041463