Gait Transition Between Standing and Falling Down for a Humanoid Robot

  • Libo MengEmail author
  • Marco Ceccarelli
  • Zhangguo Yu
  • Xuechao Chen
  • Qiang Huang
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In this paper, we introduce a gait transition method for a humanoid robot when the robot needs to recover after falling down. Muli-contact model is built to describe the complex interaction between the robot and environment. Valid stable region and balance control based on whole-body dynamic are used to guarantee the stability during the gait transition. Finally, simulations and experiments verify the proposed method.


Humanoid Robot Gait Transition Balance Control 


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This work was supported in part by the National Natural Science Foundation of China under Grant 61703043, 91748202, and 61533004, and in part by the 111 Project under Grant B08043.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Libo Meng
    • 1
    • 2
    Email author
  • Marco Ceccarelli
    • 2
    • 3
  • Zhangguo Yu
    • 1
    • 2
  • Xuechao Chen
    • 1
    • 2
  • Qiang Huang
    • 1
    • 2
  1. 1.Beijing Institute of TechnologyBeijingChina
  2. 2.Beijing Advanced Innovation Center for Intelligent Robots and Systems, Bejing Institute of TechnologyBeijingChina
  3. 3.LARM2: Laboratory of Robot MechatronicsDept of Industrial Engineering, University of Rome Tor VergataRomaItaly

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