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Experimental Evaluation and Modeling of Passive Falls in Humanoid Robots

Olivieri, Nicola and Henze, Bernd and Braghin, Francesco and Roa Garzon, Máximo Alejandro (2019) Experimental Evaluation and Modeling of Passive Falls in Humanoid Robots. In: IEEE-RAS International Conference on Humanoid Robots, pp. 360-366. IEEE. IEEE-RAS Int. Conf. on Humanoid Robots, 15-17 Oct. 2019, Montreal, Canada. ISSN 2164-0572.

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Humanoid robots are being tested in multiple applications in different environments, ranging from household and health care facilities to industrial manufacturing or disaster scenarios. Although the first priority of a humanoid robot in any application is to keep its balance and prevent falling, this possibility can never be entirely ruled out due to an internal failure of the robot or to external perturbations. Furthermore, there is no guarantee that the robot can be actively controlled during the fall, which means that the robot will passively fall in the worst case scenario. In order to ensure the safety of humans sharing the same workspace, of nearby equipment, and of the robot itself, it is required to gain knowledge on the expected impact forces when such passive fall occurs, and to create mechanisms that mitigate the consequences of a passive fall. This paper presents an experimental study of the consequences of passive falling on the robot body, analyzes different alternatives to mitigate the impact, and presents an analytical model of the fall that helps to predict the accelerations produced at the impact. The study is conducted using a mockup based on the DLR humanoid robot TORO

Item URL in elib:https://elib.dlr.de/133646/
Document Type:Conference or Workshop Item (Poster)
Title:Experimental Evaluation and Modeling of Passive Falls in Humanoid Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Olivieri, NicolaPolitecnico di MilanoUNSPECIFIED
Henze, BerndBernd.Henze (at) dlr.deUNSPECIFIED
Braghin, FrancescoPolitecnico di MilanoUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:October 2019
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 360-366
Keywords:humanoid robot, passive fall
Event Title:IEEE-RAS Int. Conf. on Humanoid Robots
Event Location:Montreal, Canada
Event Type:international Conference
Event Dates:15-17 Oct. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:20 Jan 2020 19:02
Last Modified:25 Mar 2022 12:46

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