Fall Protection of Humanoids Inspired by Human Fall Motion

Wenpeng Ding; Xuechao Chen; Zhangguo Yu; Libo Meng; Marco Ceccarelli; Qiang Huang

doi:10.1109/HUMANOIDS.2018.8625074

Fall Protection of Humanoids Inspired by Human Fall Motion

Wenpeng Ding
, Xuechao Chen^*
, Zhangguo Yu
, Libo Meng
, Marco Ceccarelli
, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

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

7 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
Publisher	IEEE Computer Society
Pages	827-833
Number of pages	7
ISBN (Electronic)	9781538672839
DOIs	https://doi.org/10.1109/HUMANOIDS.2018.8625074
Publication status	Published - 2 Jul 2018
Event	18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing, China Duration: 6 Nov 2018 → 9 Nov 2018

Publication series

Name	IEEE-RAS International Conference on Humanoid Robots
Volume	2018-November
ISSN (Print)	2164-0572
ISSN (Electronic)	2164-0580

Conference

Conference	18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Country/Territory	China
City	Beijing
Period	6/11/18 → 9/11/18

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10.1109/HUMANOIDS.2018.8625074

Cite this

Ding, W., Chen, X., Yu, Z., Meng, L., Ceccarelli, M., & Huang, Q. (2018). Fall Protection of Humanoids Inspired by Human Fall Motion. In 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018 (pp. 827-833). Article 8625074 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2018.8625074

@inproceedings{4255bf31ce314f298eabe56b3725e1d3,

title = "Fall Protection of Humanoids Inspired by Human Fall Motion",

abstract = "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.",

author = "Wenpeng Ding and Xuechao Chen and Zhangguo Yu and Libo Meng and Marco Ceccarelli and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 ; Conference date: 06-11-2018 Through 09-11-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/HUMANOIDS.2018.8625074",

language = "English",

series = "IEEE-RAS International Conference on Humanoid Robots",

publisher = "IEEE Computer Society",

pages = "827--833",

booktitle = "2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018",

address = "United States",

}

Ding, W, Chen, X , Yu, Z, Meng, L, Ceccarelli, M & Huang, Q 2018, Fall Protection of Humanoids Inspired by Human Fall Motion. in 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018., 8625074, IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, IEEE Computer Society, pp. 827-833, 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, 6/11/18. https://doi.org/10.1109/HUMANOIDS.2018.8625074

Fall Protection of Humanoids Inspired by Human Fall Motion. / Ding, Wenpeng; Chen, Xuechao ; Yu, Zhangguo et al.
2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. IEEE Computer Society, 2018. p. 827-833 8625074 (IEEE-RAS International Conference on Humanoid Robots; Vol. 2018-November).

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

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

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.

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DO - 10.1109/HUMANOIDS.2018.8625074

M3 - Conference contribution

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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 -

Fall Protection of Humanoids Inspired by Human Fall Motion

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