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

Gan Ma*, Kenji Hashimoto, Qiang Huang, Atsuo Takanishi

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルAustralasian Conference on Robotics and Automation 2016, ACRA 2016
出版社Australasian Robotics and Automation Association
ページ47-54
ページ数8
ISBN(電子版)9781634396080
出版ステータスPublished - 2016
イベントAustralasian Conference on Robotics and Automation 2016, ACRA 2016 - Brisbane, Australia
継続期間: 2016 12 52016 12 7

出版物シリーズ

名前Australasian Conference on Robotics and Automation, ACRA
2016-December
ISSN(印刷版)1448-2053

Other

OtherAustralasian Conference on Robotics and Automation 2016, ACRA 2016
国/地域Australia
CityBrisbane
Period16/12/516/12/7

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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