Most existing motion control methods for humanoids aim at avoiding falling. However, the humanoid is generally an unstable system that cannot completely avoid falling and it is difficult to cope with the sudden fall of a robot. This paper designs a planning method of fall protection for humanoids according to the human falling motion. This method changes the impact position between the robot and ground by adjusting the motion of the robot as it falls. To further reduce damage to the robot, an appropriate cushioning material is installed at the point of impact to buffer the robot. The effectiveness of the proposed method is verified for a BHR6P humanoid robot falling in simulations and experiments.

中文翻译：

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硬件与控制相结合，减少人形坠落伤害

大多数现有的类人机器人运动控制方法旨在避免跌倒。然而，类人机器人一般是一个不稳定的系统，无法完全避免跌倒，很难应对机器人的突然跌倒。本文根据人体坠落运动设计了一种仿人机器人坠落防护规划方法。该方法通过调整机器人下落时的运动来改变机器人与地面之间的撞击位置。为了进一步减少对机器人的损坏，在撞击点安装了适当的缓冲材料来缓冲机器人。针对BHR6P仿人机器人坠落仿真和实验验证了所提方法的有效性。