Fall and get up scenarios of bipedal robots

Field of research

• Fall detection and classification of bipedal robots
• Self-acting path planning of uprighting motions

Pictures and videos

• Dynamical get up motion (avi (DivX), 3.5 MB)
• Statical stable lie down and get up motion (heuristically designed) (mpg, 25.4 MB)
• Statical stable get up motion (calculated with the A*-Algorithm) (mpg, 28.0 MB)
• Falling down experiment with BARt-UH (mpg, 8.2 MB)
• Executing a reflex step after being punched (mpg, 3.9 MB)
• Getting up from an arbitrary position (avi, 11.0 MB)
• Motion planning for a lying robot with the "Dynamic Programming" (avi, 2.3 MB)
• Simulation of the fall detection and the following reaction (avi, 1.1 MB)
• Simulation of the fall detection and the following reaction (avi, 1.3 MB)

Publications

A complete and searchable list of publications with abstracts and citations in bibtex format can be found here.

• Höhn, O. Gerth, W.: Probabilistic Balance Monitoring for Bipedal Robots. The International Journal of Robotics Research, Vol. 28, Nr. 2, Feb 2009, S. 245-256.
• Höhn, O. Gerth, W.: Wahrscheinlichkeitsbasierte Sturzklassifikation von zweibeinigen Robotern. 42. Regelungstechnisches Kolloquium - Kurzfassung der Beiträge, Feb. 2008, Boppard, S. 39-40.
• Höhn, O.: Erkennung, Klassifikation und Vermeidung von Stürzen zweibeiniger Roboter. 2008, Norderstedt, Books On Demand.
• Höhn, O.: Probability based State Monitoring System for Bipedal Robots. Presented at the French-German Workshop on Humanoid and Legged Robots (HLR'06), 25.-26.September 2006, Karlsruhe, Germany, published on conference CD.
• Höhn, O., Gerth, W.: Probabilistic Balance Monitoring for Bipedal Robots. Proceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2006, 11.-14.09.2006, Brussels, Belgium, S. 435-442.
• Höhn, O., Gacnik, J., Gerth, W.: Detection and Classification of Posture Instabilities of Bipedal Robots. Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2005, 12.-15.09.2005, London, England, S. 409-416.
• Höhn, O., Schollmeyer, M., Gerth, W.: Sturzvermeidung von zweibeinigen Robotern durch reflexartige Reaktionen. In: P. Holleczek, B. Vogel-Heuser (Hrsg.): Eingebettete Systeme. PEARL 2004, Springer Verlag Berlin Heidelberg, 2004, S. 60-69.
• Höhn, O.: Robotic Projects at the Institute of Automatic Control IRT - University of Hannover. Presented at the French-German Workshop on Humanoid and Legged Robots (HLR'04), 14.-15. Oktober 2004, Metz, Frankreich, published on conference CD, S. 27-41.