Whole-Body Dynamics-Based Aerial Fall Trajectory Optimization and Landing Control for Humanoid Robot

When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot falls has mainly focused on falls on the ground, with little research on humanoid robots falling from the air. In this paper, we employ an extended sta...

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Bibliographic Details

Published in:	Biomimetics
Main Authors:	Weilong Zuo, Junyao Gao, Jingwei Cao, Xilong Xin, Mingyue Jin, Xuechao Chen
Format:	Article
Language:	English
Published:	MDPI AG 2023-10-01
Subjects:	fall trajectory optimization control humanoid robot
Online Access:	https://www.mdpi.com/2313-7673/8/6/460