2015 Fiscal Year Annual Research Report
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
| Project/Area Number |
15F15702
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| Research Institution | Waseda University |
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Principal Investigator |
高西 淳夫 早稲田大学, 理工学術院, 教授 (50179462)
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| Co-Investigator(Kenkyū-buntansha) |
MA GAN 早稲田大学, 理工学術院, 外国人特別研究員
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| Project Period (FY) |
2015-10-09 – 2017-03-31
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| Keywords | 2足ロボット / 転倒制御 / 柔軟制御 |
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| Outline of Annual Research Achievements |
A humanoid robot encounters a high risk of falling when walking or operating in an uncertain environment due to its inherent instability. Falling is treated as an extremely unstable state; as such, it may cause severe damage to the robot itself. Thus, this research focuses on the falling motion control of a humanoid robot.
Biological investigations suggest that when a human falls down, he would make full use of whole-body motion to reduce the landing damage, especially a human tends to touch down with his hands first during a fall. Thus, during the last year, this research focused on the principle of the arm motion of humans when falling down, and proposed an Arm Flexible landing Strategy for a humanoid robot. Specially, based on the conditions during a fall, the proposed strategy can make full use of the flexible of arms for safe landing control, thereby reducing the damage to the robot itself.
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| Current Status of Research Progress |
Current Status of Research Progress
1: Research has progressed more than it was originally planned.
Reason
This research has finished the analysis of humans, and is currently trying to implement the falling methods of humans in a humanoid robot.
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| Strategy for Future Research Activity |
Future studies would focus on the implementation of the proposed falling methods on a humanoid robot. Meanwhile, a more complex methods will be investigated and simulated to implement a safer landing for a humanoid robot.
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Research Products
(3 results)
