Artículo de revista
Learning to fall: Designing low damage fall sequences for humanoid soccer robots
Fecha
2009Registro en:
Robotics and Autonomous Systems 57 (2009) 796-807
doi:10.1016/j.robot.2009.03.011
Autor
Ruiz del Solar, Javier
Palma Amestoy, Rodrigo
Marchant, Román
Parra Tsunekawa, Sebastián Isao
Zegers, Pablo
Institución
Resumen
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.