Designing fall sequences that minimize robot damage in robot soccer

Abstract

In this paper is proposed a methodology for the analysis and design of fall sequences that minimize robot damage. This methodology minimizes joint/articulation injuries, as well as damage of valuable body parts (cameras and processing units). The methodology is validated using humanoid Nao robots and a realistic simulator. The obtained results show that fall sequences designed using the proposed methodology produce less damage than standard, uncontrolled falls. © 2009 Springer Berlin Heidelberg.