Humanoid Rollover A Rollover Strategy for Wrist Damage Reduction in a Forward Falling Humanoid Aug 8, 2021 Go to Project Site control robotics Related Humanoid Double-Support Throw Humanoid Landing Humanoid Forecast Sphere Joint Mechanism Publications A Rollover Strategy for Wrist Damage Reduction in a Forward Falling Humanoid Prior research on humans undergoing a forward fall has revealed that the deployment of a rollover strategy along the longitudinal axis can lower the impact force experienced on the hand to effectively reduce wrist injuries. Yet, analogous research for humanoids has received scant attention. To address this research gap, in this work, we consider the optimal design, implementation, and examination of a rollover strategy–similar to the one for humans–for a humanoid robot by employing a differential dynamic programming (DDP) approach. Dongdong Liu, Yuhang Lin, Vikram Kapila PDF Cite Project Video
