Effect of the"arm flexible landing strategy" for safe falling of a biped humanoid robot
Effect of the"arm flexible landing strategy" for safe falling of a biped humanoid robot
复制标题
“手臂灵活落地策略”对双足仿人机器人安全坠落的影响
DOI：
--
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
A. Takanishi
中科院分区：
文献类型：
--
作者：
Gan Ma;K. Hashimoto;Qiang Huang;A. Takanishi
双足类人机器人在复杂环境中行走或操作时容易摔倒，向前摔倒是最常见的摔倒方式之一。本研究主要针对前倾落体问题，提出了一种安全落体的“手臂柔性落体策略”。首先，从能量变化的角度分析了机器人系统的前落运动，提出了手臂最适合着陆姿态的选择方法。然后，在手臂上安装了柔性着陆控制器，以减小对机器人的冲击力，从而进一步增加保护。该算法非常容易实现，并且不需要任何额外的物理元素。最后，对一个人形机器人进行了一系列的仿真，验证了所提方法在安全着陆上的有效性。
A biped humanoid robot is prone to fall when walking or operating in a complex environment, and forward fall is one of the most common falling cases. This study focuses on the forward fall issue and presents an “Arm Flexible Landing Strategy” for safe falling. First, the forward falling motion is analyzed from an energy variation perspective of the robot system, and a method to choose best-fit landing attitude of the arm is presented. Then, a flexible landing controller is implemented in the arm to reduce the impact force to the robot, thereby further increasing protection. The presented algorithm is very easy to implement and does not require any additional physical elements to the robot. Finally, a series of simulations are made on a humanoid robot to validate the effectiveness of the presented methods on a safe landing.