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Robot Intelligence Technology and Applications 2012 pp 315–325Cite as

Development and Implementation of Break Falling System for a Biped Robot

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 208))

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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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Stanford University, Stanford, California, USA

    Seung Je Woo

  2. Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA

    Sung G. Lee

  3. Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology, 291 Daehak-ro, Yuseong-gu, Daejeon, 305-701, Korea

    Jung Seul Ok & Jong Hwan Kim

Authors
  1. Seung Je Woo
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  2. Sung G. Lee
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  3. Jung Seul Ok
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  4. Jong Hwan Kim
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Corresponding author

Correspondence to Seung Je Woo .

Editor information

Editors and Affiliations

  1. , Electrical Engineering and Computer Sci., KAIST, 291 Daehak-ro, Daejeon, 305-701, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. Dept. Computer &, Information Technology (ICT), Purdue University, N. Grant St. 401, West Lafayette, 47907-1421, Indiana, USA

    Eric T. Matson

  3. , Dept. of Civil and Environmental Engg., KAIST, Daehak-ro 291, Daejeon, 305-701, Korea, Republic of (South Korea)

    Hyun Myung

  4. , Faculty of Engineering, The University of Auckland, Private Bag, Auckland, 1142, New Zealand

    Peter Xu

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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

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37373-2

  • Online ISBN: 978-3-642-37374-9

  • eBook Packages: EngineeringEngineering (R0)

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