DocumentCode
2339060
Title
An optimal planning of falling motions of a humanoid robot
Author
Fujiwara, Kiyoshi ; Kajita, Shuuji ; Harada, Kensuke ; KANEKO, Kenji ; Morisawa, Mitsuharu ; Kanehiro, Fumio ; Nakaoka, Shinichiro ; Hirukawa, Hirohisa
Author_Institution
Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
456
Lastpage
462
Abstract
This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot. An optimal control is applied to generate the falling motion of HRP-2FX to minimize a performance index, and the optimality has been verified by the experiments on HRP-2FX.
Keywords
humanoid robots; mobile robots; optimal control; path planning; HRP-2FX human-sized humanoid robot; optimal control; optimal falling motion planning; performance index; robot damage reduction; Humanoid robots; Intelligent robots; Legged locomotion; Mobile robots; Motion control; Motion planning; Notice of Violation; Optimal control; Shape; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location
San Diego, CA
Print_ISBN
978-1-4244-0912-9
Electronic_ISBN
978-1-4244-0912-9
Type
conf
DOI
10.1109/IROS.2007.4399327
Filename
4399327
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