TY - GEN
T1 - Bio-inspired falling motion control for a biped humanoid robot
AU - Ma, Gan
AU - Huang, Qiang
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Hashimoto, Kenji
AU - Takanishi, Atsuo
AU - Liu, Yun Hui
PY - 2015/2/12
Y1 - 2015/2/12
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84945175396&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84945175396&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2014.7041463
DO - 10.1109/HUMANOIDS.2014.7041463
M3 - Conference contribution
AN - SCOPUS:84945175396
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 850
EP - 855
BT - 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PB - IEEE Computer Society
T2 - 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Y2 - 18 November 2014 through 20 November 2014
ER -