Learning to fall: Designing low damage fall sequences for humanoid soccer robots
Abstract
A methodology for the analysis and design of fall sequences of robots that minimize joint/articulation injuries, and the damage of valuable body parts is proposed. These fall sequences can be activated/triggered by the robot in case of a detected unintentional fall or an intentional fall, which are common events in humanoid soccer environments. The methodology is human-based and requires the use of a realistic simulator as development tool. The obtained results show that fall sequences designed using the proposed method produce less damage than standard, uncontrolled falls. © 2009 Elsevier B.V. All rights reserved.
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Título según WOS: | Learning to fall: Designing low damage fall sequences for humanoid soccer robots |
Título según SCOPUS: | Learning to fall: Designing low damage fall sequences for humanoid soccer robots |
Título de la Revista: | ROBOTICS AND AUTONOMOUS SYSTEMS |
Volumen: | 57 |
Número: | 8 |
Editorial: | Elsevier |
Fecha de publicación: | 2009 |
Página de inicio: | 796 |
Página final: | 807 |
Idioma: | English |
URL: | http://linkinghub.elsevier.com/retrieve/pii/S0921889009000566 |
DOI: |
10.1016/j.robot.2009.03.011 |
Notas: | ISI, SCOPUS |