TY - GEN
T1 - Fall Protection of Humanoids Inspired by Human Fall Motion
AU - Ding, Wenpeng
AU - Chen, Xuechao
AU - Yu, Zhangguo
AU - Meng, Libo
AU - Ceccarelli, Marco
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Most of the existing stability control methods for humanoids aim at avoiding falling down, and it is difficult to cope with the sudden fall of robots. However, humanoids is an unstable system which cannot avoid falling down. In this paper, we design a planning method of fall protection for humanoids according to the human fall motion. This method determines the contact position between the robot and the ground by adjusting the motion of the robot when it falls. In order to further reduce the damage to the robot, the appropriate cushioning material installed at the point of collision is selected to absorb the impact. The effectiveness of the proposed method is verified by BHR6P humanoid robot fall experiments.
AB - Most of the existing stability control methods for humanoids aim at avoiding falling down, and it is difficult to cope with the sudden fall of robots. However, humanoids is an unstable system which cannot avoid falling down. In this paper, we design a planning method of fall protection for humanoids according to the human fall motion. This method determines the contact position between the robot and the ground by adjusting the motion of the robot when it falls. In order to further reduce the damage to the robot, the appropriate cushioning material installed at the point of collision is selected to absorb the impact. The effectiveness of the proposed method is verified by BHR6P humanoid robot fall experiments.
UR - http://www.scopus.com/inward/record.url?scp=85062270765&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2018.8625074
DO - 10.1109/HUMANOIDS.2018.8625074
M3 - Conference contribution
AN - SCOPUS:85062270765
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 827
EP - 833
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -