Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot

Gan Ma; Qiang Huang; Yan Liu; Zhangguo Yu; Xuechao Chen; Zhihong Jiang; Kenji Hashimoto; Atsuo Takanishi; Yun Hui Liu

doi:10.1109/ROBIO.2014.7090510

Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot

Gan Ma, Qiang Huang, Yan Liu, Zhangguo Yu, Xuechao Chen, Zhihong Jiang, Kenji Hashimoto, Atsuo Takanishi, Yun Hui Liu

机电学院

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the 'torso protective strategy' for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from an energy variation perspective of the robot system. The torso 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 comparative simulation is made on a model of humanoid robot to validate the influence of the torso strategies on safe landing.

源语言	英语
主期刊名	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1284-1289
页数	6
ISBN（电子版）	9781479973965
DOI	https://doi.org/10.1109/ROBIO.2014.7090510
出版状态	已出版 - 20 4月 2014
活动	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, 印度尼西亚期限: 5 12月 2014 → 10 12月 2014

出版系列

姓名	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

会议

会议	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
国家/地区	印度尼西亚
市	Bali
时期	5/12/14 → 10/12/14

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10.1109/ROBIO.2014.7090510

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Ma, G., Huang, Q., Liu, Y., Yu, Z., Chen, X., Jiang, Z., Hashimoto, K., Takanishi, A., & Liu, Y. H. (2014). Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. 在 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (页码 1284-1289). 文章 7090510 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090510

Ma, Gan ; Huang, Qiang ; Liu, Yan 等. / Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. 页码 1284-1289 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

@inproceedings{8ae448fd5a5241ee8f90afd6fa91a725,

title = "Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot",

abstract = "The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the 'torso protective strategy' for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from an energy variation perspective of the robot system. The torso 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 comparative simulation is made on a model of humanoid robot to validate the influence of the torso strategies on safe landing.",

author = "Gan Ma and Qiang Huang and Yan Liu and Zhangguo Yu and Xuechao Chen and Zhihong Jiang and Kenji Hashimoto and Atsuo Takanishi and Liu, {Yun Hui}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

month = apr,

day = "20",

doi = "10.1109/ROBIO.2014.7090510",

language = "English",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

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Ma, G, Huang, Q, Liu, Y, Yu, Z , Chen, X , Jiang, Z, Hashimoto, K, Takanishi, A & Liu, YH 2014, Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. 在 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090510, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., 页码 1284-1289, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, 印度尼西亚, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090510

Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. / Ma, Gan; Huang, Qiang; Liu, Yan 等.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. 页码 1284-1289 7090510 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot

AU - Ma, Gan

AU - Huang, Qiang

AU - Liu, Yan

AU - Yu, Zhangguo

AU - Chen, Xuechao

AU - Jiang, Zhihong

AU - Hashimoto, Kenji

AU - Takanishi, Atsuo

AU - Liu, Yun Hui

PY - 2014/4/20

Y1 - 2014/4/20

N2 - The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the 'torso protective strategy' for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from an energy variation perspective of the robot system. The torso 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 comparative simulation is made on a model of humanoid robot to validate the influence of the torso strategies on safe landing.

AB - The falling of a biped humanoid robot is treated as an extremely unstable state. When an unexpected fall happens, it may cause serious damage to both the robot itself. This study focuses on the falling issue and investigates the effect of the 'torso protective strategy' for safe landing of a biped humanoid robot. First, the effectiveness of the torso strategies to the safe landing is analyzed from an energy variation perspective of the robot system. The torso 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 comparative simulation is made on a model of humanoid robot to validate the influence of the torso strategies on safe landing.

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M3 - Conference contribution

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T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

SP - 1284

EP - 1289

BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Y2 - 5 December 2014 through 10 December 2014

ER -

Ma G, Huang Q, Liu Y, Yu Z , Chen X , Jiang Z 等. Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. 在 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. 页码 1284-1289. 7090510. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090510

Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot

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