@inproceedings{f08058146642474daae3ac5907190f86,
title = "Falling prevention system from external disturbances for humanoid robots",
abstract = "Humanoid robot requires a robust prevention system against external disturbances to protect itself from falling to the ground and to perform its tasks completely. In this paper, a Falling Prevention System for humanoid robot is proposed to avoid falling from the disturbances, and helps humanoid robot recover its balance from external force by taking a step. The algorithm for the Falling Prevention System consists of two processes. First, humanoid robot can perceive whether it is falling or not by using an IMU sensor, and if falling, the center of mass (CoM) and swinging leg trajectories are calculated for the robot to take a step. The CoM and swinging leg trajectories are also used to acquire all joint angles of lower body by inverse kinematics. Furthermore, designed foot trajectory helps humanoid robot minimize its yawing moment. Next, mass-spring-damper system for the robot{\textquoteright}s legs is modeled to reduce large impact force from the ground. The effectiveness of the proposed method is demonstrated through computer simulations for a humanoid robot.",
keywords = "Falling prevention system, Humanoid robot, Mass-spring-damper modeling",
author = "Park, {Gyeong Moon} and Baek, {Seung Hwan} and Kim, {Jong Hwan}",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 ; Conference date: 06-11-2014 Through 08-11-2014",
year = "2015",
doi = "10.1007/978-3-319-16841-8_10",
language = "English",
isbn = "9783319168401",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
pages = "97--105",
editor = "Weimin Yang and Hyun Myung and Jong-Hwan Kim and Peter Sincak and Jun Jo",
booktitle = "Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications",
address = "Germany",
}