Abstract
People have designed many different kinds of humanoid robots, but few of them have been applied to real life. On the one hand, the robot has insufficient movement ability and poor flexibility; on the other hand, there are no effective structures that can effectively buffer the impact caused by falling. Therefore, it is very important to design a robot which can detect when a fall will occur, what kinds of protective actions will be taken after a fall, and most importantly to resist the impact of the fall. In this work we present a novel humanoid robot whose design was based on the principles of bionics, high stiffness, light weight, and multipoint protections. Based on capture point theory and 3D-LIPM model, the robot can detect when it would fall down and what protective actions it would take after falling. It was verified in the actual robot, including falling, standing after a fall in outdoor environment. The experiment results show that the proposed Falling-Crawling robot can resist the impact force caused by falling.
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Zuo, W., Gao, J., Cao, J., Mu, T., Bi, Y. (2023). Structure Design and Fall Trajectory Planning of an Electrically Driven Humanoid Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_41
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DOI: https://doi.org/10.1007/978-981-99-6495-6_41
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