| 研究実績の概要 |
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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