Title :
The first human-size humanoid that can fall over safely and stand-up again
Author :
Fujiwara, Kiyoshi ; Kanehiro, Fumio ; KAJITA, Shuuji ; YOKOI, Kazuhito ; Saito, Hajime ; Harada, Kensuke ; KANEKO, Kenji ; Hirukawa, Himhisa
Author_Institution :
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
Abstract :
This paper investigates a method through which human-size humanoid robot can fall over backwards safely. Squatting-extending motion of legs reduce impact of falling and shock-absorbing parts of the robot keep the force at a permissible range. The robot could stand up itself again after falling.
Keywords :
legged locomotion; motion control; biped humanoid robots; human-size humanoid robot; leg motion; shock-absorbing parts; Acceleration; Angular velocity; Cameras; Force measurement; Gravity; Humanoid robots; Leg; Legged locomotion; Robot vision systems; Servomotors;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248925
