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

School of Mechatronical Engineering

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

1 Citation (Scopus)

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.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1284-1289
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090510
Publication status	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

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

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

Access to Document

10.1109/ROBIO.2014.7090510

Cite this

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. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 1284-1289). Article 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

@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",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1284--1289",

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

address = "United States",

}

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. in 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., pp. 1284-1289, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 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 et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1284-1289 7090510 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

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

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.

UR - http://www.scopus.com/inward/record.url?scp=84983133259&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2014.7090510

DO - 10.1109/ROBIO.2014.7090510

M3 - Conference contribution

AN - SCOPUS:84983133259

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 et al. Effect of the 'torso protective strategy' for safe falling of a biped humanoid robot. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 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

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this