Abstract
Humanoid robots have to avoid falling down in various situations. In particular, when a large disturbance acts on a humanoid robot or when the robot exerts impulsive force on the environment, the fall-prevention becomes more difficult. The goal of this research is to develop a method of fall avoidance with multi-stepping motion. To that end, the effectiveness of the proposed method is confirmed by experiments of fall avoidance when a humanoid robot stands supporting both legs. After that, a method of fall avoidance with multi-stepping motion is proposed. And the effectiveness of the method is confirmed by simulation.
