Effect of the"arm flexible landing strategy" for safe falling of a biped humanoid robot

Gan Ma, Kenji Hashimoto, Qiang Huang, Atsuo Takanishi

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

    Abstract

    A biped humanoid robot is prone to fall when walking or operating in a complex environment, and forward fall is one of the most common falling cases. This study focuses on the forward fall issue and presents an"Arm Flexible Landing Strategy" for safe falling. First, the forward falling motion is analyzed from an energy variation perspective of the robot system, and a method to choose best-fit landing attitude of the arm is presented. Then, a exible landing controller is implemented in the arm to reduce the impact force to the robot, thereby further increasing protection. The presented algorithm is very easy to implement and does not require any additional physical elements to the robot. Finally, a series of simulations are made on a humanoid robot to validate the effectiveness of the presented methods on a safe landing.

    Original languageEnglish
    Title of host publicationAustralasian Conference on Robotics and Automation 2016, ACRA 2016
    PublisherAustralasian Robotics and Automation Association
    Pages47-54
    Number of pages8
    Volume2016-December
    ISBN (Electronic)9781634396080
    Publication statusPublished - 2016 Jan 1
    EventAustralasian Conference on Robotics and Automation 2016, ACRA 2016 - Brisbane, Australia
    Duration: 2016 Dec 52016 Dec 7

    Other

    OtherAustralasian Conference on Robotics and Automation 2016, ACRA 2016
    CountryAustralia
    CityBrisbane
    Period16/12/516/12/7

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering

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