Fall Detection And Motion Control For Humanoid Robots During Falling Forward

Humanoid robot will easily fall down when the robot is walking or taking tasks because of its own problems or the environmental factors.Falling may cause a series of serious problems on a humanoid robot.Humanoid robot may damage its own parts and will be unable to complete tasks.At present researches on falling have been carried out at home and abroad.Bionic methods have been widely proposed to plan the movement of humanoid robot.However,there are very few researches on arm support when the humanoid robot is falling down.In this paper,the research on the protection of humanoid robot during falling forward has been proposed.Falling detection method has been proposed to judge the states of humanoid robot.The falling protective method for humanoid robot has been put forward,solving the problem of selecting the best touchdown point.Then soft landing of humanoid robot has been achieved by arm compliance.Firstly,the falling detection method based on support vector machine(SVM)for humanoid robot is proposed.When humanoid robot is falling forward,the acceleration data from the trunk of the robot and pressure data from the feet of the robot are acquired,classified and labeled.Thus the boundary condition of humanoid robot is obtained during falling forward.Secondly,in order to solve the problem of arm landing during falling forward,the falling protective method has been proposed.The dynamic model of humanoid robot during falling forward is established,solving the problem of selecting the best touchdown point.Thirdly,when humanoid robot falls to the ground on arms,the impact on arms will greatly increase,which may damage the robot itself.Thus passive compliance and active compliance control strategy for the humanoid robot arms have been proposed.When humanoid robot is falling by external forces or disturbances,falling protective strategy takes effects.Arm compliance controller can reduce the impact on the robot arm while touching the ground,protecting the core parts of the robot.Finally,the simulation model of humanoid robot is established.Simulations offalling protective method have been achieved under Adams software.The falling protective method for humanoid robot has been validated by simulations.