DocumentCode
2374817
Title
UKEMI: falling motion control to minimize damage to biped humanoid robot
Author
Fujiwara, Kiyoshi ; Kanehiro, Fumio ; Kajita, Shuji ; KANEKO, Kenji ; YOKOI, Kazuhito ; Hirukawa, Hrohisa
Author_Institution
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
Volume
3
fYear
2002
fDate
2002
Firstpage
2521
Abstract
This paper investigates a method to minimize damage to a humanoid robot when it falls over to the ground. The strategy involves controlling the attitude of the robot while it is falling over so that it lands on the ground at one of shock-absorbing parts of the robot. A simulation study has confirmed that the proposed algorithm can make the robot land at specified shock-absorbing parts.
Keywords
attitude control; control system CAD; legged locomotion; motion control; HRP-2 Prototype; UKEMI algorithm; biped humanoid robot; damage minimization; falling motion control; robot attitude control; shock-absorbing parts; simulation study; Attitude control; Electrical equipment industry; Humanoid robots; Humans; Intelligent robots; Intelligent systems; Legged locomotion; Mobile robots; Motion control; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1041648
Filename
1041648
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