An Optimal planning of falling motions of a humanoid robot

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 456-462

  Fujiwara, Kiyoshi ^a   Kajita, Shuuji ^a   Harada, Kensuke ^a   Kaneko, Kenji ^a   Morisawa, Mitsuharu ^a   Kanehiro, Fumio ^a   Nakaoka, Shinichiro ^a   Hirukawa, Hirohisa ^a  

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

Author keywords

[No Author keywords available]

Indexed keywords

INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; PROJECT MANAGEMENT;

HUMANOID ROBOT; OPTIMAL PLANNING;

ROBOTICS;

EID: 51349100800     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399327     Document Type: Conference Paper

References (8)

1. Tatsuzo Ishida, Yoshihiro KUROKI, Taro TAKAHASHI, "Analysis of Motions of a Small Biped Entertainment Robot," Proc. Int. Conf. on Intelligent Robots and Systems(lROS), pp.142-147, 2004.
2. Fujiwara, K., Kanehiro, F., Kajita, S., Kaneko, K., Yokoi, K., Hirukawa,H., "UKEMI: Falling Motion Control to Minimize Damage to Biped Humanoid Robot," Proc. Int. Conf. on Intelligent Robots and Systems(IROS), pp.2521-2526, 2002.
3. Fujiwara, K., Kanehiro, F., Kajita, S., Yokoi, K., Saito, H., Harada, K., Kaneko, K., Hirukawa,H., "The First Human-size Humanoid that can Fall Over Safely and Stand-up Again," Proc. Int. Conf. on Intelligent Robotics and Systems(lROS), pp.1920-1926, 2003.
4. Kenji, K., Kanehiro, F., Kajita, S., Yokoyama, K., Akachi, K., Kawasaki, T., Ota, S., Isozumi, T., "Design of Prototype Humanoid Robogics Platform for HRP," Porc. lnt, Conf, on Intelligent Robots and Systems(IROS), pp.2431-2436, 2002.
5. Fujiwara, K., Kajita, S., Harada, K., Kaneko, K., Morisawa, K., Kanehiro, F., Nakaoka, S., Hirukawa, H., "Towards an Optimal Falling Motion for a Humanoid Robot," Proc. of 2006 IEEE-RAS International Conference on Humanoid Robots, pp.524-529, 2006.
6. Hirukawa, H., Kanehiro, F., Kajita, S., "OpenHRP: Open Architecture Humanoid Robotics Platform," Intr. Symposium on Robotics Research (ISRR), Melbourne, November 2001.
7. M. J. D. Powerll (Ed.),"Nonlinear Optimization," 1981, NATO Conference Series, Academic Press(1982)
8. Howie Choset et al. ,"Principles of Robot Motion : theory, algorithms, and implementations," MIT Press, (2005).