Falls control using posture reshaping and active compliance

@article{Samy2015FallsCU,
  title={Falls control using posture reshaping and active compliance},
  author={Vincent Samy and Abderrahmane Kheddar},
  journal={2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)},
  year={2015},
  pages={908-913}
}
We address the problem of humanoid falls when they are unavoidable. We propose a control strategy that combines two behaviors: i) closed-loop posture reshaping - during the falling phase, which allows best impact absorption from a predefined taxonomy, coupled with ii) an active compliance through instant PD gains reduction, instead of shutting-off the actuators or instead of high-gains control with additional implements as previously proposed by other works. We perform several simulations to… CONTINUE READING
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