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Optimal Trajectory for Active Safe Falls in Humanoid Robots

Rossini, Luca and Henze, Bernd and Braghin, Francesco and Roa Garzon, Máximo Alejandro (2019) Optimal Trajectory for Active Safe Falls in Humanoid Robots. In: IEEE-RAS International Conference on Humanoid Robots, pp. 321-328. IEEE. IEEE-RAS Int. Conf. on Humanoid Robots, 15-17 Oct. 2019, Montreal, Canada. ISSN 2164-0572.

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Abstract

Humanoid robots are being introduced in multiple environments, including houses, health care facilities or factories. Bipedal robots are, however, inherently unstable, and they might fall due to multiple reasons, including internal failures or external perturbations. In these situations, the robot should guarantee as much as possible the integrity of humans in the workspace, of the environment, and of the robot itself. When there is some control authority left on the robot, it can be actively commanded to follow a predefined trajectory that minimizes the consequences of the impact with the ground. This paper presents the computation of an optimal falling trajectory using a telescopic inverted pendulum model, which translates into squatting and stretching motions in the robot to dissipate as much energy as possible. The results show that the prescribed trajectory is effective for maximizing the dissipated energy before the actual impact.

Item URL in elib:https://elib.dlr.de/133647/
Document Type:Conference or Workshop Item (Poster)
Title:Optimal Trajectory for Active Safe Falls in Humanoid Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Rossini, LucaPolitecnico 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 SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 321-328
Publisher:IEEE
ISSN:2164-0572
Status:Published
Keywords:humanoid robots, active fall
Event Title:IEEE-RAS Int. Conf. on Humanoid Robots
Event Location:Montreal, Canada
Event Type:international Conference
Event Dates:15-17 Oct. 2019
Organizer:IEEE
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 19:03
Last Modified:25 Mar 2022 12:45

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