People have designed many different kinds of humanoid robots, but few of them have been applied to real life. On the one hand, the robot has insufficient movement ability and poor flexibility; on the other hand, there are no effective structures that can effectively buffer the impact caused by falling. Therefore, it is very important to design a robot which can detect when a fall will occur, what kinds of protective actions will be taken after a fall, and most importantly to resist the impact of the fall. In this work we present a novel humanoid robot whose design was based on the principles of bionics, high stiffness, light weight, and multipoint protections. Based on capture point theory and 3D-LIPM model, the robot can detect when it would fall down and what protective actions it would take after falling. It was verified in the actual robot, including falling, standing after a fall in outdoor environment. The experiment results show that the proposed Falling-Crawling robot can resist the impact force caused by falling.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Structure Design and Fall Trajectory Planning of an Electrically Driven Humanoid Robot


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Zuo, Weilong (Autor:in) / Gao, Junyao (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Structure Design and Fall Trajectory Planning of an Electrically Driven Humanoid Robot

    Zuo, Weilong / Gao, Junyao / Cao, Jingwei et al. | TIBKAT | 2023


    ROBOT, HUMANOID ROBOT, AND ROBOT FALL CONTROL METHOD

    KAMON MASAYUKI / KARASUYAMA JUNICHI | Europäisches Patentamt | 2023

    Freier Zugriff

    Robot, humanoid robot, and robot fall control method

    KAMON MASAYUKI / KARASUYAMA JUNICHI | Europäisches Patentamt | 2024

    Freier Zugriff

    Humanoid robot and sole structure of humanoid robot

    LIU GUOQUAN | Europäisches Patentamt | 2025

    Freier Zugriff

    Thigh structure of humanoid robot and humanoid robot

    WANG HONGTAO / JIN YONGBIN / LIU XIANWEI et al. | Europäisches Patentamt | 2025

    Freier Zugriff