Artículo de revista
Designing Fall Sequences That Minimize Robot Damage in Robot Soccer
Fecha
2009Registro en:
L. Iocchi et al. (Eds.): RoboCup 2008, LNAI 5399, pp. 271–283, 2009.
Autor
Ruiz del Solar, Javier
Palma Amestoy, Rodrigo
Vallejos, Paul
Marchant, Román
Zegers, P.
Institución
Resumen
In this paper is proposed a methodology for the analysis and design
of fall sequences that minimize robot damage. This methodology minimizes
joint/articulation injuries, as well as damage of valuable body parts (cameras
and processing units). The methodology is validated using humanoid Nao
robots and a realistic simulator. The obtained results show that fall sequences
designed using the proposed methodology produce less damage than standard,
uncontrolled falls.