This paper discussed the whole body cooperated work to generate large impact energy which is generated by arm when hit a wall. The maximum power of arm of the humanoid robot is lower than that of leg. But humanoid robot can generate more impact power by whole body cooperated motion than only used a arm. The humanoid robot falls easily down by force of the repulsion of the impact energy. But the robot can generate much of the impact energy by the stabilization of the ZMP. This paper discussed not only a relationship between the stabilization of the ZMP and the impact energy, but also a relationship between the whole bodies cooperated force control and impact energy.
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