Abstract
The development of humanoid robots is becoming more popular these days. While the robotics community is outputting varieties of enabling results for humanoid robots to perform many different types of tasks such as locomotion or entertainment, there has not been much research on securing their safety in motion. A way to make humanoid robots prepare for some dangerous incidents should be given attention in order to prevent the developers from losing expensive and important parts of robots and efforts they put in. The main focus of this research is to make a robot break-fall when external forces are exerted behind the robot. This paper is organized as follows: the research robotic platform that is used in order to test break-fall motions of robots is introduced. Various methods of break-fall motions are designed and evaluated. We conclude that among the types of motion we investigated, motion type C-2, stretching arms forward & bending knees & damping motion, is the best break-fall motion. Application of our algorithm to other practical robots may result in reduction of precarious incidents of robots falling down, which will be beneficial for robot developers.
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Woo, S.J., Lee, S.G., Ok, J.S., Kim, J.H. (2013). Development and Implementation of Break Falling System for a Biped Robot. In: Kim, JH., Matson, E., Myung, H., Xu, P. (eds) Robot Intelligence Technology and Applications 2012. Advances in Intelligent Systems and Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37374-9_31
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DOI: https://doi.org/10.1007/978-3-642-37374-9_31
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