DocumentCode
414247
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
Volume
2
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
1077
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307968
Filename
1307968
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