Title :
A falling motion control of humanoid robots based on biomechanical evaluation of falling down of humans
Author :
Libo Meng;Zhangguo Yu;Xuechao Chen;Weimin Zhang;Marco Ceccarelli;Kenji Hashimoto;Atsuo Takanishi;Qiang Huang;Wenjuan Guo;Lin Xie;Huaxin Liu
Author_Institution :
Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
Abstract :
This paper presents results of experimental investigation of the falling down of human body in order to identify significant characteristics and parameters that help for safe similar situations with humanoid robots. Experiments are discussed with results from lab tests that give both behavior and values of the biomechanics of falling down of human body. Simulations of humanoid robot falling verified the strategies concluded from the human falling down.
Keywords :
"Humanoid robots","Robot sensing systems","Trajectory","Force","Acceleration","Layout"
Conference_Titel :
Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on
DOI :
10.1109/HUMANOIDS.2015.7363571
