An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids
Grazia Zambella, Antonio Bicchi, Simone Monteleone, Edwin Paúl Herrera-Alarcón, Francesca Negrello, Gianluca Lentini, Danilo Caporale, Giorgio Grioli
Abstract
Robots face the eventuality of falling. Unplanned events, external disturbances and technical failures may lead a robot to a condition where even an effective dynamic stabilization is not sufficient to maintain the equilibrium. Therefore, it is essential to equip robotic platforms with both active and passive fall protection means to minimize damages, and enable the recovery and restart without physical human intervention. This work introduces a method to design an integrated safety system for two-wheeled humanoids. As a case study, the method is applied to a robot and experimentally tested under several conditions corresponding to different causes of robot instability, such as motor jamming, external disturbances, and sudden shut-down.
BibTeX
@inproceedings{ral2020_anintegrateddyna,
title = {An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids},
author = {Grazia Zambella and Antonio Bicchi and Simone Monteleone and Edwin Paúl Herrera-Alarcón and Francesca Negrello and Gianluca Lentini and Danilo Caporale and Giorgio Grioli and Manolo Garabini and Manuel Giuseppe Catalano},
booktitle = {RA-L 2020},
year = {2020}
}