Name
Abstract | ||
|---|---|---|
This paper studies an optimal planning of falling motions of a human-sized humanoid robot to reduce the damage of the robot. We developed a human-sized robot HRP-2FX which has a simplified humanoid robot shape with seven d.o.f. and can emulate motions in the sagittal plane of a humanoid robot. An optimal control is applied to generate the falling motion of HRP-2FX to minimize a performance index, and the optimality has been verified by the experiments on HRP-2FX. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/IROS.2007.4399327 | 2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 |
Keywords | Field | DocType |
path planning,humanoid robot,optimal control,humanoid robots,performance index,mobile robots | Social robot,Computer science,Control engineering,Artificial intelligence,Humanoid robot,Motion planning,Robot control,Computer vision,Simulation,Robot kinematics,Robot end effector,Robot,Mobile robot | Conference |
Citations | PageRank | References |
16 | 0.85 | 7 |
Authors | ||
8 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kiyoshi Fujiwara | 1 | 1483 | 109.62 |
| Shuuji Kajita | 2 | 3008 | 271.45 |
| Kensuke Harada | 3 | 1967 | 172.97 |
| Kenji Kaneko | 4 | 2742 | 212.93 |
| Mitsuharu Morisawa | 5 | 647 | 49.09 |
| Fumio KANEHIRO | 6 | 2304 | 204.18 |
| Shinichiro Nakaoka | 7 | 461 | 32.58 |
| Hirohisa Hirukawa | 8 | 1967 | 155.62 |