A Review of Fall Coping Strategies for Humanoid Robots  

作　　者：Haoyan Zhang Jiaqi Wu Jiarong Fan Yang An Xingze Jin Da Cui YiRu Yang 

机构地区：[1]School of Mechanical and Aerospace Engineering,Jilin University,Changchun,China [2]School of Journalism and Communication,Jilin Normal University,Jilin,Changchun,China [3]Chongqing Research Institute,Jilin University,Chongqing,China

出　　处：《Journal of Bionic Engineering》2025年第2期480-512,共33页仿生工程学报(英文版)

基　　金：supported by the key research and development project of Science and Technology Department of Jilin Province(No.20230201102GX);the Natural Science Foundation of Chongqing(No.CSTB2022NSCQ-MSX0278);the 2023 college students innovation and entrepreneurship training plan(202310183105).

摘　　要：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 their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.

关 键 词：Humanoid robots Fall coping strategies Fall detection Fall prevention manoeuvre Post-fall protection 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]