2A1-D32 "UKEMI" Motion of Humanoid Robots Using Arms

The purpose of this study is to develop a humanoid control system generating "UKEMI" motion when the humanoid is about to fall down on the floor or other objects. The proposed method applies 3D-LIPM to the generation of the "UKEMI" motion to minimize damage given to humanoids, and decides the positions of humanoid hands by utilizing GZMP criterion to balance the humanoid body after the motion.