UKEMI: falling motion control to minimize damage to biped humanoid robot

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Abstract

This paper investigates a method to minimize damage to a humanoid robot when it falls over to the ground. The strategy involves controlling the attitude of the robot while it is falling over so that it lands on the ground at one of shock-absorbing parts of the robot. A simulation study has confirmed that the proposed algorithm can make the robot land at specified shock-absorbing parts.

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Authors

Kiyoshi Fujiwara

Gynecologic Oncology Group

Fumio Kanehiro

University of Tsukuba

Shuuji Kajita

Chubu University

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National Institute of Advanced Industrial Science and Technology

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Fujiwara et al. (Wed,) studied this question.

synapsesocial.com/papers/6a2319643c6dd25ddfc45138 — DOI: https://doi.org/10.1109/irds.2002.1041648

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Also consider

Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context:

Design of prototype humanoid robotics platform for HRP· 2003 · 312 citations
OpenHRP: Open Architecture Humanoid Robotics Platform· 2007 · 246 citations
The development of Honda humanoid robot· 2002 · 1,925 citations
Two-armed bipedal robot that can walk, roll over and stand up· 2002 · 57 citations
Design and development of research platform for perception-action integration in humanoid robot: H6· 2002 · 189 citations

UKEMI: falling motion control to minimize damage to biped humanoid robot

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Abstract

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Authors

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References and Citations

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Discussion

Cite this study

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