Abstract
In order to better adapt to human living environment for improving the ability of serving people on various occasions, humanoid robots need to prevent themselves from being severely damaged during falling backward. In this article, we have study the law of human falling motion with a motion capture system and propose a minimized falling damage method for humanoid robots. Falling backward is divided into two phases: the falling phase and the touchdown phase. The parametric optimal strategy based on inverted pendulum with flywheel is used to plan the motion of robot in the first phase to reduce the impact. In the second phase, to prevent the robot from bouncing and rolling over, the heuristic strategy including the best ratio of leg length inspired by biomechanical is adopted. The experiments have been tested on the BIT Humanoid Robot 6 prototype platform and the presented method has been validated.
Highlights
It is always being dreamed of to have a machine or a robot that can serve people in daily life
We propose a minimized falling damage method for humanoid robots, consisting of the parametric optimal strategy based on inverted pendulum with flywheel, and the heuristic strategy with the best ratio of leg length (RLL) inspired in biomechanical by the falling motion of human beings analyzed and obtained via the motion capture system, which are respectively relative to the two motion phase: the falling phase and the touchdown phase
The motion trajectory in touchdown phase is very important. It cannot be solved by the inverted pendulum with flywheel model which is used in the parametric optimal control strategy in falling phase
Summary
It is always being dreamed of to have a machine or a robot that can serve people in daily life. We propose a minimized falling damage method for humanoid robots, consisting of the parametric optimal strategy based on inverted pendulum with flywheel, and the heuristic strategy with the best ratio of leg length (RLL) inspired in biomechanical by the falling motion of human beings analyzed and obtained via the motion capture system, which are respectively relative to the two motion phase: the falling phase and the touchdown phase. The motion trajectory in touchdown phase is very important It cannot be solved by the inverted pendulum with flywheel model which is used in the parametric optimal control strategy in falling phase. When the force is medium (200 N), the best RLL is between 70% and 80%
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