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• W2783647435 abstract "This paper presents quick squatting motion generation of a humanoid robot to reduce its falling damage. The forward squat motion could be realized by simple motion planning of the center of mass. To enhance the stability at the landing, we designed a controller based on Nagasaka's trunk position compliance control. To design a more complicated motion which perform squat and step back at the same time, we design reference Zero-Moment Point and the center of mass trajectories for the requirement. A dynamically consistent robot motion can be obtained by using differential dynamic programming (DDP) technique. Experimental results by using a humanoid robot HRP-2Kai are shown." @default.
• W2783647435 created "2018-01-26" @default.
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• W2783647435 date "2017-10-01" @default.
• W2783647435 modified "2023-09-26" @default.
• W2783647435 title "Quick squatting motion generation of a humanoid robot for falling damage reduction" @default.
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• W2783647435 doi "https://doi.org/10.1109/cbs.2017.8266127" @default.
• W2783647435 hasPublicationYear "2017" @default.
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