Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot

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

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

    1 Citation (Scopus)

    Abstract

    The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the 'torso protective strategy' for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from an energy variation perspective of the robot system. The torso 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 comparative simulation is made on a model of humanoid robot to validate the influence of the torso strategies on safe landing.

    Original languageEnglish
    Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1284-1289
    Number of pages6
    ISBN (Electronic)9781479973965
    DOIs
    Publication statusPublished - 2014 Apr 20
    Event2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
    Duration: 2014 Dec 52014 Dec 10

    Other

    Other2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
    CountryIndonesia
    CityBali
    Period14/12/514/12/10

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    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Human-Computer Interaction

    Cite this

    Ma, G., Huang, Q., Liu, Y., Yu, Z., Chen, X., Jiang, Z., Hashimoto, K., Takanishi, A., & Liu, Y. H. (2014). Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1284-1289). [7090510] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090510