Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
There are some situations biped robots cannot avoid fall over, just as humans cannot avoid it. When biped robots fall over, it causes various problems such as critical damage due to the impact of the fall. This paper proposes a falling control method in a sagittal plane which uses capturability analysis. We utilize capturability for the detection of falling over and a decision of a landing point of an upper limb. The biped robot can keep its center of mass at a high position by landing its upper limbs, which reduces the impact the robot receives when falling. We confirmed the effectiveness of the proposed method through dynamic simulations.
