2006 · 65 citations · 6 references
EngineeringMechanical EngineeringRobotics EngineeringHumanoid RoboticsMotion PlanningRoboticsBipedal LocomotionHumanoid Robot DynamicsHumanoid Robot MorphologyLegged RoboticsRobot MorphologyRobot Motion PlanningBipedal Locomotion PlanningControl-constrained Optimal ControlHumanoid LocomotionLocomotion PlanningOptimal Control TrajectoriesRobot Motion DesignSagittal Plane Kinematics
This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot. We simulated falling motions of HRP-2FX which generated by using an optimal control method to minimize a performance index, and verified the optimality
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Design of prototype humanoid robotics platform for HRP
Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita et al. · 2003 · 312 citations
Engineering, Mechatronics Engineering, Robotics Engineering +16
UKEMI: falling motion control to minimize damage to biped humanoid robot
Kiyoshi Fujiwara, Fumio Kanehiro, Shuuji Kajita et al. · 2003 · 115 citations
Engineering, Mechanical Engineering, Robotics Engineering +13
Safe knee landing of a human-size humanoid robot while falling forward
K. Furwara, Fumio Kanehiro, Shuuji Kajita et al. · 2005 · 31 citations
Engineering, Mechatronics Engineering, Robotics Engineering +14