Tripod fall: Concept and experiments of a novel approach to humanoid robot fall damage reduction

@article{Yun2014TripodFC,
  title={Tripod fall: Concept and experiments of a novel approach to humanoid robot fall damage reduction},
  author={Seung-kook Yun and Ambarish Goswami},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={2799-2805}
}
This paper addresses a new control strategy to reduce the damage to a humanoid robot during a fall. Instead of following the traditional approach of finding a favorable configuration with which to fall to the ground, this method attempts to stop the robot from falling all the way to the ground. This prevents the full transfer of the robot's potential energy to kinetic energy, and consequently results in a milder impact. The controlled motion of the falling robot involves a sequence of three… CONTINUE READING
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