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

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1284-1289
ページ数6
ISBN(電子版)9781479973965
DOI
出版ステータスPublished - 2014 4 20
イベント2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia
継続期間: 2014 12 52014 12 10

出版物シリーズ

名前2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Other

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

ASJC Scopus subject areas

  • バイオテクノロジー
  • 人工知能
  • 人間とコンピュータの相互作用

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