Title :
Real-time selection and generation of fall damage reduction actions for humanoid robots
Author :
Ogata, Kunihiro ; Terada, Koji ; Kuniyoshi, Yasuo
Author_Institution :
Univ. of Tokyo, Tokyo
Abstract :
Falling motion control is necessary because humanoid robots are vulnerable to falling. This issue has been the subject of several previous studies; the contributions of this paper are a motion selection method and a method for generating fall-avoidance motions and active shock reducing motions.
Keywords :
humanoid robots; mobile robots; motion control; robot dynamics; active shock reducing motions; dynamical 3D-symmetrization method; dynamics simulation; fall damage reduction actions; fall-avoidance motions; falling motion control; humanoid robots; motion selection method; predicted ZMP; zero moment point; AC generators; Electric shock; Forward contracts; Humanoid robots; Legged locomotion; Motion control; Motion detection; Motion planning; Proposals; Testing;
Conference_Titel :
Humanoid Robots, 2008. Humanoids 2008. 8th IEEE-RAS International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4244-2821-2
Electronic_ISBN :
978-1-4244-2822-9
DOI :
10.1109/ICHR.2008.4755950
