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

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
出版社IEEE Computer Society
ページ850-855
ページ数6
ISBN(電子版)9781479971749
DOI
出版ステータスPublished - 2015 2 12
外部発表はい
イベント2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
継続期間: 2014 11 182014 11 20

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2015-February
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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