humanoid robot fall recovery
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Hi, thank you for your contribution on awesome list related to legged locomotion learning.
I was wondering have you research any related to humanoid robot fall recovery?
Hello, thank you for your interest. I'm sorry that I don't know much about this area.
This is what i got so far.
Learning Complex Motor Skills for Legged RobotFall Recovery
and i read it. In the terms of humanoid robot, we only have a related paper but it doesn't talk about falling recovery. And what's more, it just uses a simulated character, it doesn't use the robot. I'm not sure whether the joint and link of robot were considered or not.
ASE: large-scale reusable adversarial skill embeddings for physically simulated characters by Jason Peng
I've read this paper as well. This work uses urdf or mjcf models for the simulation, which takes into account the joint and link of robot
On a related note, here are two works on fall recovery with a real (adult-size, 40+ kg) humanoid robot:
- Pre-impact posture shaping: Falls control using posture reshaping and active compliance
- Post-impact compliance control: Post-Impact Adaptive Compliance for Humanoid Falls Using Predictive Control of a Reduced Model
