Falling protective method for humanoid robots using arm compliance to reduce damage

Yuhang Zhou; Xuechao Chen; Huaxin Liu; Zhangguo Yu; Weimin Zhang; Qiang Huang

doi:10.1109/ROBIO.2016.7866624

Falling protective method for humanoid robots using arm compliance to reduce damage

Yuhang Zhou, Xuechao Chen^*, Huaxin Liu, Zhangguo Yu, Weimin Zhang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

A falling protective method is proposed to reduce the damage during falling forward for humanoid robots. We develop a humanoid robot equipped with two flexible arms. The flexible arms make up the mechanical protection during falling down. The falling protective method consists of three parts: fall detection, leg crouch, and arm compliance control. Arm compliance control is applied to protect the robot from being severely damaged. Simulations have been achieved using the compliance control. The falling protective method is validated.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2008-2013
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866624
Publication status	Published - 2016
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Publication series

Name	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

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10.1109/ROBIO.2016.7866624

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Zhou, Y., Chen, X., Liu, H., Yu, Z., Zhang, W., & Huang, Q. (2016). Falling protective method for humanoid robots using arm compliance to reduce damage. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 2008-2013). Article 7866624 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866624

@inproceedings{a5c608dd128342548fab60581cbf5ed6,

title = "Falling protective method for humanoid robots using arm compliance to reduce damage",

abstract = "A falling protective method is proposed to reduce the damage during falling forward for humanoid robots. We develop a humanoid robot equipped with two flexible arms. The flexible arms make up the mechanical protection during falling down. The falling protective method consists of three parts: fall detection, leg crouch, and arm compliance control. Arm compliance control is applied to protect the robot from being severely damaged. Simulations have been achieved using the compliance control. The falling protective method is validated.",

author = "Yuhang Zhou and Xuechao Chen and Huaxin Liu and Zhangguo Yu and Weimin Zhang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",

year = "2016",

doi = "10.1109/ROBIO.2016.7866624",

language = "English",

series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2008--2013",

booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",

address = "United States",

}

Zhou, Y, Chen, X, Liu, H, Yu, Z , Zhang, W & Huang, Q 2016, Falling protective method for humanoid robots using arm compliance to reduce damage. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866624, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Institute of Electrical and Electronics Engineers Inc., pp. 2008-2013, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 3/12/16. https://doi.org/10.1109/ROBIO.2016.7866624

Falling protective method for humanoid robots using arm compliance to reduce damage. / Zhou, Yuhang; Chen, Xuechao; Liu, Huaxin et al.
2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2008-2013 7866624 (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Falling protective method for humanoid robots using arm compliance to reduce damage

AU - Zhou, Yuhang

AU - Chen, Xuechao

AU - Liu, Huaxin

AU - Yu, Zhangguo

AU - Zhang, Weimin

AU - Huang, Qiang

PY - 2016

Y1 - 2016

N2 - A falling protective method is proposed to reduce the damage during falling forward for humanoid robots. We develop a humanoid robot equipped with two flexible arms. The flexible arms make up the mechanical protection during falling down. The falling protective method consists of three parts: fall detection, leg crouch, and arm compliance control. Arm compliance control is applied to protect the robot from being severely damaged. Simulations have been achieved using the compliance control. The falling protective method is validated.

AB - A falling protective method is proposed to reduce the damage during falling forward for humanoid robots. We develop a humanoid robot equipped with two flexible arms. The flexible arms make up the mechanical protection during falling down. The falling protective method consists of three parts: fall detection, leg crouch, and arm compliance control. Arm compliance control is applied to protect the robot from being severely damaged. Simulations have been achieved using the compliance control. The falling protective method is validated.

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U2 - 10.1109/ROBIO.2016.7866624

DO - 10.1109/ROBIO.2016.7866624

M3 - Conference contribution

AN - SCOPUS:85016830571

T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

SP - 2008

EP - 2013

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

Y2 - 3 December 2016 through 7 December 2016

ER -

Zhou Y, Chen X, Liu H, Yu Z , Zhang W , Huang Q. Falling protective method for humanoid robots using arm compliance to reduce damage. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2008-2013. 7866624. (2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016). doi: 10.1109/ROBIO.2016.7866624

Falling protective method for humanoid robots using arm compliance to reduce damage

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