An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids
作者： Grazia Zambella , Simone Monteleone , Edwin Paul Herrera Alarcon , Francesca Negrello , Gianluca Lentini
关键词:
摘要: Robots face the eventuality of falling. Unplanned events, external disturbances and technical failures may lead a robot to condition where even an effective dynamic stabilization is not sufficient maintain equilibrium. Therefore, it essential equip robotic platforms with both active passive fall protection means minimize damages, enable recovery restart without physical human intervention. This work introduces method design integrated safety system for two-wheeled humanoids. As case study, applied experimentally tested under several conditions corresponding different causes instability, such as motor jamming, disturbances, sudden shut-down.
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