TY - GEN
T1 - Structure Design and Fall Trajectory Planning of an Electrically Driven Humanoid Robot
AU - Zuo, Weilong
AU - Gao, Junyao
AU - Cao, Jingwei
AU - Mu, Tian
AU - Bi, Yuanzhen
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
KW - 3D-LIPM
KW - Capture Point
KW - Fall
KW - Humanoid Robot
UR - http://www.scopus.com/inward/record.url?scp=85175990888&partnerID=8YFLogxK
U2 - 10.1007/978-981-99-6495-6_41
DO - 10.1007/978-981-99-6495-6_41
M3 - Conference contribution
AN - SCOPUS:85175990888
SN - 9789819964949
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 481
EP - 493
BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
A2 - Yang, Huayong
A2 - Liu, Honghai
A2 - Zou, Jun
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Yang, Geng
A2 - Ouyang, Xiaoping
A2 - Wang, Zhiyong
PB - Springer Science and Business Media Deutschland GmbH
T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Y2 - 5 July 2023 through 7 July 2023
ER -