@inbook{439257f745a247b2aba6a919ffcf0ce8,
title = "A Falling Forwards Protection Strategy for Humanoid Robots",
abstract = "Humanoid robots should prevent damage during falling forwards, which will improve the ability of serving people on various occasions. In this paper, we analyze different landing positions, and propose a falling forwards protection strategy for humanoid robots. Falling forwards is divided into two phases: the knee landing phase and the chest landing phase. The parametric optimal strategy based on telescopic inverted pendulum with flywheel is used to plan the motion of robot in the first phase to reduce the impact. Inverted pendulum with flywheel and fixed length is adopted in the second phase. The simulations tested on the BHR-6P (BIT Humanoid Robot 6 Prototype) platform validate the effectiveness of the presented strategy.",
keywords = "Falling forwards, Humanoid robots, Optimization",
author = "Qingqing Li and Zhangguo Yu and Xuechao Chen and Weimin Zhang and Zhaoyang Cai and Qian Liang and Qinqin Zhou and Zelin Huang and Qiang Huang",
note = "Publisher Copyright: {\textcopyright} 2019, CISM International Centre for Mechanical Sciences.",
year = "2019",
doi = "10.1007/978-3-319-78963-7_40",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "314--322",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
address = "Switzerland",
}