２足ヒューマノイドロボットの転倒予測と転倒制御に関する研究

在2016年4月至2016年12月期间，主要完成了以下工作：1-进行了仿人机器人跌倒运动控制的研究; 2-开发了一种新的跌倒机器人平台; 3-在两次学术会议上做了演讲; 4-发表了一篇会议论文。仿人跌倒的研究可以提高仿人机器人跌倒时的安全性，否则会对机器人本身造成严重损害。在我发表的论文中，我从机器人系统能量变化的角度分析了下落运动，并提出了一种柔性着陆控制器，以减少对机器人的冲击力，从而减少损坏。

In the period from 4/2016 to 12/2016, the following main things were done:1-I conducted research in falling motion control of a humanoid robot; 2-Developing a new robot platform for falling; 3-I made presentations in two academic conferences; 4-I published one conference paper.The research in humanoid fall can enhance the safety of a humanoid robot upon falling, which can otherwise cause severe damage to the robot itself. In my published paper, I analyzed the falling motion from an energy variation perspective of the robot system, and proposed a flexible landing controller to reduce the impact force to the robot,thereby reduce damage.