Analysis of states transition for a humanoid robot SJTU-HR1: Rising up from a supine position to erect stance

Standing up from a supine position is an important human activity of day life. It is of equal importance for the humanoid robot. This paper presents the concept of humanoid robot SJTU-HR1, researches on the characteristics of lying and standing state using the generalize function (G_F) set, and gets the interested end effectors (EEs). Then the work focus on analysis of the state transition from lying to standing state, moreover, abstracts some paths according to point of less cost of the applied force. Finally, fourteen young adults were videotaped while standing up from lying state and did not tell them the purpose of the test. In the process of test, the male demonstrated a similar combination of movements during rising, and the female demonstrated the other similar combination of movements. These results in the test are according with the principle of timesaving and laboursaving.