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.


	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.

	Institute of Automatic Control - URL http://www.irt.uni-hannover.de/forschung/asr/fall_en.html Responsible: Institute of Automatic Control, Biped Team, last modification 14.09.2009 © Leibniz Universität Hannover 1998 - 2009