• DocumentCode
    1695686
  • 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
  • fYear
    2006
  • Firstpage
    524
  • Lastpage
    529
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/ICHR.2006.321323
  • Filename
    4115653
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1695686