Adaptive falling and recovery skills greatly extend the applicability of robot deployments. In
the case of legged mobile manipulators, the robot arm could adaptively stop the fall and …

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 …

Humanoid robot operation requires balancing to prevent failures, such as fall over. This is a
crucial task in legged robots and thus several researchers are working on this topic. Fall …

A unified framework is established for general balance stability criteria of biped systems. The
stability regions of balanced and steppable states are partitions of the center-of-mass (COM) …

Untethered robots carry their own power supply in the form of a battery pack, which has a
crucial impact on the robot's performance. Although battery technologies are richly studied …

Recent advancements in optimal control and reinforcement learning have enabled
quadrupedal robots to perform various agile locomotion tasks over diverse terrains. During …

This paper introduces a new planning algorithm to minimize the damage of humanoid falls
by utilizing multiple contact points. Given an unstable initial state of the robot, our approach …

We address the problem of humanoid falls when they are unavoidable. We propose a
control strategy that combines two behaviors: i) closed-loop posture resha**-during the …

Maximum absolute acceleration at impact is widely used for evaluating damage at robot fall.
In this paper, we measured the impact acceleration of a life-size humanoid robot when it fell …

One of the challenges for the robotics community is to deploy robots which can reliably
operate in real world scenarios together with humans. A crucial requirement for legged …