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A falling protective method is proposed to reduce the damage during falling forward for humanoid robots. We develop a humanoid robot equipped with two flexible arms. The flexible arms make up the mechanical protection during falling down. The falling protective method consists of three parts: fall detection, leg crouch, and arm compliance control. Arm compliance control is applied to protect the robot...
Humanoid robot is anticipated to serve people in the near future. However, a humanoid robot encounters a high risk of falling when walking or operating in an uncertain environment. In this paper, we propose a passive buffering arm to reduce damage for humanoid robot during falling forward, and we develop a robotic prototype which has a simplified humanoid robot shape and can emulate motions in the...
Slip occurrence puts not only the humans but also the humanoid robots into dangerous situations. Although the detection and the estimation of slip have been well researched, studies on slip avoidance control in a humanoid robot are rare. Previous methods used to restrict the horizontal motion or regulate the vertical motion of the humanoid robot did not take the important rotational motion into account...
This paper presents results of experimental investigation of the falling down of human body in order to identify significant characteristics and parameters that help for safe similar situations with humanoid robots. Experiments are discussed with results from lab tests that give both behavior and values of the biomechanics of falling down of human body. Simulations of humanoid robot falling verified...
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