Humanoid fall damage reduction

摘要

A robot controller controls a robot during a fall to reduce the damage to the robot upon impact. The robot controller causes the robot to achieve a tripod-like posture having three contact points (e.g., two hands and one foot) so that the robot motion in arrested with its center of mass (CoM) high above the ground. This prevents a large impact caused by the transfer of potential energy to kinetic energy during the fall. The optimal locations of the three contacts are learned through a machine learning algorithm.