Design and Operation of Humanoid Robots with Incipient Fall Detection

Falling is one of the main reasons of failure and damage of humanoid robots when they perform human-like tasks. Fall detection can be used not only to prevent damage to the humanoid robot when falling but also to adjust its actions so that the operation can run continuously. The paper discusses design issues, analyses the fall detection function and diagnostics sensors, and proposes rational design solutions for the required motion planning.

References

[1] Ceccarelli M., Cafolla D., Russo M., Carbone G. LARM Bot Humanoid Design Towards a Prototype. MOJ int. Jnl Applied Bionics and Biomechanics, 2017, vol. 1(2), 00008, doi: 10.15406/mojabb.2017.01.00008

[2] Huang Q., Yang T., Liao W., Zhang W., Yu Z., Chen X., Ceccarelli M. Historical developments of BHR humanoid robot. Explorations in the History and Heritage of Machines and Mechanisms, Proceedings of the 2018 HMM IFToMM Symposium on History of Machines and Mechanisms, Springer, Nature Switzerland AG, 2019, HMMS, vol. 37, 2019, pp. 310–323.

[3] Meng L., Ceccarelli M., Yu Z., Chen X., Huang Q. Gait Transition Between Standing and Falling Down for a Humanoid Robot. Advances in Mechanism and Machine Science, Mechanisms and Machine Science, Springer Nature Switzerland AG, 2019, vol. 73, pp. 2501–2509.

[4] Meng L., Ceccarelli M., Yu Z., Chen X., Huang Q. An experimental characterization of human falling down. Mechanical Sciences, 2017, vol. 8, pp. 79–89, doi: 10.5194/ms-8-79-2017

[5] Meng L., Yu Z., Zhang W., Chen X., Ceccarelli M., Huang Q. A Falling Motion Strategy for Humanoids Based on Motion Primitives of Human Falling. Advances in Service and Industrial Robotics. Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region RAAD, Dordrecht, Springer, 2017, pp. 264–272.