TY - GEN
T1 - Effect of the"arm flexible landing strategy" for safe falling of a biped humanoid robot
AU - Ma, Gan
AU - Hashimoto, Kenji
AU - Huang, Qiang
AU - Takanishi, Atsuo
N1 - Funding Information:
This work was supported by JSPS KAKENHI under Grant 15F15702 and NSFC under Grant 61320106012.
Publisher Copyright:
© 2018 Australasian Robotics and Automation Association. All rights reserved.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85049868995&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85049868995&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85049868995
T3 - Australasian Conference on Robotics and Automation, ACRA
SP - 47
EP - 54
BT - Australasian Conference on Robotics and Automation 2016, ACRA 2016
PB - Australasian Robotics and Automation Association
T2 - Australasian Conference on Robotics and Automation 2016, ACRA 2016
Y2 - 5 December 2016 through 7 December 2016
ER -