Damage reduction control for humanoid robot fall

摘要

A humanoid robot fall controller controls motion of a robot to minimize damage when it determines that a fall is unavoidable. The robot controller detects a state of the robot during the fall and determines a desired rotational velocity that will allow the robot to re-orient itself during the fall to land on a predetermined target body segment (e.g., a backpack). The predetermined target body segment can be specially designed to absorb the impact of the fall and protect important components of the robot.

主权项

1. A computer-implemented method for controlling a robot during a fall, the method comprising:
receiving, by a robot controller, a detected state of the robot; determining based on the detected state that a fall of the robot is unavoidable; responsive to determining that the fall of the robot is unavoidable, determining a desired rotational velocity of the robot that would cause the robot to impact the ground with a predetermined target body segment making first contact with the ground given the detected state of the robot; generating a control signal to control motion of the robot during the fall based on the desired rotational velocity; and outputting the control signal to actuators of the robot to cause the robot to rotate based on the desired rotational velocity such that the predetermined target body segment makes first contact with the ground.