1A2-N02 Fall Avoidance of a Humanoid Robot with Online-stepping Motion(Humanoid(2))

Abstract

Assuming that a humanoid robot is used in living environment of human, it must maintain its balance to various unknown disturbance. A purpose of this study is to achieve fall avoidance with stepping motion against the large impulsive force. Methods to generate stepping motion can be roughly divided into two types: offline method and online method. A stepping motion generated offline has problems that the short step length is not enough to avoid falling down and the long step length accelerates falling. Therefore, this paper proposes a method to generate stepping motion online depending on falling process. Additionally, the effectiveness of the proposed method is confirmed experimentally.