HUMANOID ROBOT HAVING FALL-MANAGEMENT CAPABILITIES, AND METHOD FOR MANAGING SAID FALLS

摘要

The invention relates to a humanoid robot having particular fall-management capabilities. The risk of falling limits the development of the mass use of humanoid robots. In the prior art, the modalities of fall detection are not well-adapted to very dynamic robots as the center of mass is very often outside the support polygon thereof. The modalities of fall management are also not well-adapted to robots that must be economical in terms of the computing resources thereof. According to the invention, the conventional support polygon is achieved by means of effectors which are determined to be sufficiently close to the ground, and protection strategies, selected from a set of strategies defined by a classification of the fall angles, are implemented.