Computational and experimental analyses on impact reduction when a humanoid robot lands on the ground
The purpose of this study is to reduce the impact force when a humanoid robot lands on the ground or the floor. First, the landing postures of a human subject were analyzed while measuring the impact forces when the subject lands on the floor. Through the experimentally observed relations between the landing postures and the impact forces, it was hypothesized that a human being may reduce the impact force by motion control of his or her center of gravity, for example, to lengthen the time of the landing motion. Then, a landing robot was developed, and an experiment to measure the impact forces was conducted to prove the hypothesis.
impact reduction humanoid robot center of gravity passive landing active landing