Proceedings ArticleDOI
Towards an Optimal Falling Motion for a Humanoid Robot
Kiyoshi Fujiwara,Shuuji Kajita,Kensuke Harada,Kenji Kaneko,Mitsuharu Morisawa,Fumio Kanehiro,Shin'ichiro Nakaoka,Hirohisa Hirukawa +7 more
- pp 524-529
Reads0
Chats0
TLDR
This paper developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot.Abstract:
This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven dof and can emulate motions in the sagittal plane of a humanoid robot We simulated falling motions of HRP-2FX which generated by using an optimal control method to minimize a performance index, and verified the optimalityread more
Citations
More filters
Proceedings ArticleDOI
Falling motion control for humanoid robots while walking
TL;DR: The three-dimensional linear inverted pendulum mode (3D-LIPM), which has been utilized in gait generation of humanoid robots, is used to generate a solution for the center of gravity for the contracting/expanding fall correction movement.
Proceedings ArticleDOI
An optimal planning of falling motions of a humanoid robot
Kiyoshi Fujiwara,Shuuji Kajita,Kensuke Harada,Kenji Kaneko,Mitsuharu Morisawa,Fumio Kanehiro,Shin'ichiro Nakaoka,Hirohisa Hirukawa +7 more
TL;DR: A human-sized robot HRP-2FX is developed which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot.
Book
Dynamic Stabilisation of the Biped Lucy Powered by Actuators with Controllable Stiffness
TL;DR: LuLucy as mentioned in this paper is a trajectory generator and trajectory tracking system for road traffic.Part1 Introduction.Part2 Description of Lucy.Part3Trajectory generator.Part4 Trajectory tracking.
Proceedings ArticleDOI
Safe fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping
TL;DR: This paper presents a fall strategy which rapidly modifies the robot's fall direction in order to avoid hitting a person or an object in the vicinity, and is the first implementation of a controller that attempts to change the fall direction of a humanoid robot.
Proceedings ArticleDOI
Real-time selection and generation of fall damage reduction actions for humanoid robots
TL;DR: The contributions of this paper are a motion selection method and a method for generating fall-avoidance motions and active shock reducing motions.
References
More filters
Book
Nonlinear optimization
TL;DR: This book will help readers to understand the mathematical foundations of the modern theory and methods of nonlinear optimization and to analyze new problems, develop optimality theory for them, and choose or construct numerical solution methods.
Proceedings ArticleDOI
Design of prototype humanoid robotics platform for HRP
Kenji Kaneko,Fumio Kanehiro,Shuuji Kajita,K. Yokoyama,Kazuhiko Akachi,Toshikazu Kawasaki,S. Ota,Takakatsu Isozumi +7 more
TL;DR: The ability of the biped locomotion of HRP-2 is improved so that HRp-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over.
Book ChapterDOI
OpenHRP: Open Architecture Humanoid Robotics Platform
TL;DR: OpenHRP is expected to initiate the exploration of humanoid robotics on an open architecture software and hardware, thanks to the unification of the controllers and the examined consistency between the simulator and a real humanoid robot.
OpenHRP: Open Architecture Humanoid Robotics Platform.
TL;DR: This paper presents the open architecture humanoid robotics platform (OpenHRP) which consists of a simulator and motion control library of humanoid robots and the compatibility between the simulation and corresponding experiment has been successfully examined.
Proceedings ArticleDOI
UKEMI: falling motion control to minimize damage to biped humanoid robot
TL;DR: This paper investigates a method to minimize damage to a humanoid robot when it falls over to the ground that can make the robot land at specified shock-absorbing parts.