Structure Design and Fall Trajectory Planning of an Electrically Driven Humanoid Robot

Weilong Zuo, Junyao Gao*, Jingwei Cao, Tian Mu, Yuanzhen Bi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

People have designed many different kinds of humanoid robots, but few of them have been applied to real life. On the one hand, the robot has insufficient movement ability and poor flexibility; on the other hand, there are no effective structures that can effectively buffer the impact caused by falling. Therefore, it is very important to design a robot which can detect when a fall will occur, what kinds of protective actions will be taken after a fall, and most importantly to resist the impact of the fall. In this work we present a novel humanoid robot whose design was based on the principles of bionics, high stiffness, light weight, and multipoint protections. Based on capture point theory and 3D-LIPM model, the robot can detect when it would fall down and what protective actions it would take after falling. It was verified in the actual robot, including falling, standing after a fall in outdoor environment. The experiment results show that the proposed Falling-Crawling robot can resist the impact force caused by falling.

Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
EditorsHuayong Yang, Honghai Liu, Jun Zou, Zhouping Yin, Lianqing Liu, Geng Yang, Xiaoping Ouyang, Zhiyong Wang
PublisherSpringer Science and Business Media Deutschland GmbH
Pages481-493
Number of pages13
ISBN (Print)9789819964949
DOIs
Publication statusPublished - 2023
Event16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China
Duration: 5 Jul 20237 Jul 2023

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume14271 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/TerritoryChina
CityHangzhou
Period5/07/237/07/23

Keywords

  • 3D-LIPM
  • Capture Point
  • Fall
  • Humanoid Robot

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Zuo, W., Gao, J., Cao, J., Mu, T., & Bi, Y. (2023). Structure Design and Fall Trajectory Planning of an Electrically Driven Humanoid Robot. In H. Yang, H. Liu, J. Zou, Z. Yin, L. Liu, G. Yang, X. Ouyang, & Z. Wang (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 481-493). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14271 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6495-6_41