UKEMI: Falling motion control to minimize damage to biped humanoid robot

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2002, Pages 2521-2526

  Fujiwara, Kiyoshi ^a   Kanehiro, Fumio ^a   Kajita, Shuji ^a   Kaneko, Kenji ^a   Yokoi, Kazuhito ^a   Hirukawa, Hirohisa ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COLLISION AVOIDANCE; COMPUTER SIMULATION; MOTION CONTROL; SHOCK ABSORBERS;

DAMAGE; HUMANOID ROBOT;

ROBOTS;

EID: 0036453158     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Inoue, H., Tachi, S., Nakamura, Y., Hirai, K., et.al, "Overview of Humanoid Robotics Project of METI," Proc. Int. Symp. Robotics, pp.1478-1482, 2001.
2. Nishiwaki, K., Sugihara, T., Kagami, S., Kanehiro, F., Inaba, M., and Inoue, H., "Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot: H6," Proc. Int. Conference on Intelligent Robots and Systems, pp.1559-1564, 2000.
3. Yamaguchi, J., Soga, E., Inoue, S. and Takanishi, A., "Development of a Bipedal Humanoid Robot - Control Method of Whole Body Cooperative Dynamic Biped Walking -," Proc. of the 1999 ICRA, pp.368-374, 1999.
4. Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T., "The Development of Honda Humanoid Robot," Proc. of the 1998 ICRA, pp.1321-1326, 1998.
5. Inaba, M., Kanehiro, F., Kagami, S., and Inoue, H., "Two-Armed Bipedal Robot that can Walk, Roll-over and Stand up," Proc. of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems, pp.297-302, 1995.
6. Yokoi, K., Kanehiro, F., Kaneko, K., Fujiwara, K., Kajita, S., and Hirukawa, H., "A Honda Humanoid Robot Controlled by AIST Software," Proc. Second IEEE-RAS Int. Conf. on Humanoid Robots, 2001.
7. Kaneko, K., Kanehiro, F., Kajita, S., Yokoyama, K., Akachi, K., Kawasaki, T., Ota, S., and Isozumi, T., "Design of Prototype Humanoid Robotics Platform for HRP," (Paper submitted for IROS2002)
8. Hirukawa, H., Kanehiro, F., Kajita, S., "OpenHRP: Open Architecture Humanoid Robotics Platform," Intr. Symposium on Robotics Research (ISRR), Melbourne, November 2001 (printing).