Title :
Towards an Optimal Falling Motion for a Humanoid Robot
Author :
Fujiwara, Kiyoshi ; KAJITA, Shuuji ; Harada, Kensuke ; KANEKO, Kenji ; Morisawa, Mitsuharu ; Kanehiro, Fumio ; Nakaoka, Shinichiro ; Hirukawa, Hirohisa
Author_Institution :
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba
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 d.o.f. 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 optimality
Keywords :
humanoid robots; mobile robots; motion control; optimal control; performance index; HRP-2FX robot; human-sized humanoid robot; optimal control; optimal falling motion; optimal planning; performance index; robot damage reduction; Humanoid robots; Intelligent robots; Knee; Leg; Legged locomotion; Mobile robots; Motion control; Motion planning; Service robots; Shape;
Conference_Titel :
Humanoid Robots, 2006 6th IEEE-RAS International Conference on
Conference_Location :
Genova
Print_ISBN :
1-4244-0200-X
Electronic_ISBN :
1-4244-0200-X
DOI :
10.1109/ICHR.2006.321323
