Title :
Falling motion control of a humanoid robot trained by virtual supplementary tests
Author :
Fujiwara, Kiyoshi ; Kanehiro, Fumio ; Saito, Hajime ; KAJITA, Shuuji ; Harada, Kensuke ; Hirukawa, Hirohisa
Author_Institution :
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
fDate :
April 26-May 1, 2004
Abstract :
We previously reported the first human-sized humanoid robot that can fall down safely and stand up again. This paper examines the falling motion control by supplementary simulations and presents an improvement of the control by optimizing the control parameters. The UKEMI falling over control of a human-sized humanoid robot is simulated, the simulation results are compared with the experimental results of real humanoid robot.
Keywords :
mobile robots; motion control; optimisation; shock control; UKEMI falling motion control; control parameters optimisation; falling over simulation; humanoid robot; virtual supplementary tests; Electrical equipment industry; Gravity; Humanoid robots; Intelligent robots; Intelligent systems; Legged locomotion; Mobile robots; Motion control; Neck; System testing;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307968
