Quick squatting motion generation of a humanoid robot for falling damage reduction

Abstract

This paper presents quick squatting motion generation of a humanoid robot to reduce its falling damage. The forward squat motion could be realized by simple motion planning of the center of mass. To enhance the stability at the landing, we designed a controller based on Nagasaka's trunk position compliance control. To design a more complicated motion which… (More)
DOI: 10.1109/CBS.2017.8266127

Topics

10 Figures and Tables

Slides referencing similar topics