Falling Forward of Humanoid Robot Based on Similarity with Parametric Optimum

摘要

The designing method of falling-forward locomotion of a humanoid robot based on the locomotion similarity is proposed. Firstly, the locomotion similarity is analyzed and the synchronous transition for key postures is proposed. Then, the kinetics constraint equations and the associated physical constraints for the 4-level headstand pendulum of robot’s falling-forward locomotion are constituted under the condition of similarity transition. Finally, the method based on the parametric control and enhancing technique is adopted to optimize the parameters in the touching ground process of falling forward. The experiments showed the validity of this designing method.