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IROS
2007
IEEE

An optimal planning of falling motions of a humanoid robot

10 years 7 months ago
An optimal planning of falling motions of a humanoid robot
— 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. An optimal control is applied to generate the falling motion of HRP-2FX to minimize a performance index, and the optimality has been verified by the experiments on HRP-2FX.
Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, K
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka, Hirohisa Hirukawa
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