Internal Fall Protection Mechanism in Non-Compliant Humanoid Robot

Abstract

Electrical actuators used in humanoid robotic applications are generally fabricated for non-compliant behavior. The humanoid structure, apart from its revolute joints are rigid and non-compliant. The development of automobile systems has been such that they are able to tolerate compliance easily whereas in humanoid robotics, compliance is very difficult to compensate especially when it's presence is uncontrolled. This is because its applications require high accelerations while retaining very low angular displacement such as walking on a surface or during jump or fall. This paper studies a controller for an electric actuator activated in the event of a fall for protection of the humanoid robot