A Review of Fall Coping Strategies for Humanoid Robots

IF 4.9 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Journal of Bionic Engineering Pub Date : 2025-01-29 DOI:10.1007/s42235-024-00643-y

Haoyan Zhang, Jiaqi Wu, Jiarong Fan, Yang An, Xingze Jin, Da Cui, YiRu Yang

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Abstract

Humanoid robots exhibit structures and movements akin to those of humans, enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools. Sustaining balance amidst disturbances constitutes a fundamental capability for humanoid robots. Consequently, adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics. This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots. It systematically reviews and discusses three critical facets: fall state detection, preventive actions against falls, and post-fall protection measures. The paper undertakes a thorough classification of existing coping methodologies across different stages of falls, analyzes the merits and drawbacks of each approach, and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages. Finally, the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.

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仿人机器人跌倒应对策略研究综述

人形机器人具有与人类相似的结构和运动，使它们能够在不改变其典型环境和工具的情况下协助或代替人类进行各种操作。在干扰中保持平衡是类人机器人的基本能力。因此，采用有效的策略来管理不稳定和减轻跌倒造成的伤害对于推进人形机器人的广泛采用至关重要。本文提出了一个全面的概述正在发展的策略，以应对跌倒在人形机器人。它系统地回顾和讨论了三个关键方面：跌倒状态检测、预防跌倒行动和跌倒后保护措施。本文对不同阶段的现有应对方法进行了全面分类，分析了每种方法的优缺点，并概述了不同阶段应对跌倒相关挑战的解决方案的演变轨迹。最后，对目前针对类人机器人的跌倒应对策略进行了简要总结和展望。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Bionic Engineering 工程技术-材料科学：生物材料

CiteScore

7.10

自引率

10.00%

发文量

162

审稿时长

10.0 months

期刊介绍： The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.