@InProceedings{samy:humanoids:2015,
  author    = {Samy, Vincent and Kheddar, Abderrahmane},
  title     = {Falls control using posture reshaping and active compliance},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2015},
  address   = {Seoul, South Korea},
  month     = {November 3-November 5},
  url       = {https://www.researchgate.net/profile/Vincent-Samy/publication/308835404\_Falls\_control\_using\_posture\_reshaping\_and\_active\_compliance/links/58eb86db0f7e9b6b274b8679/Falls-control-using-posture-reshaping-and-active-compliance.pdf},
  keywords  = {Kinematics, Legged locomotion, Taxonomy, Elbow, Force, Shoulder},
  doi       = {10.1109/HUMANOIDS.2015.7363469},
  abstract  = {We address the problem of humanoid falls when they are unavoidable. We propose a control strategy that combines two behaviors: i) closed-loop posture reshaping - during the falling phase, which allows best impact absorption from a predefined taxonomy, coupled with ii) an active compliance through instant PD gains reduction, instead of shutting-off the actuators or instead of high-gains control with additional implements as previously proposed by other works. We perform several simulations to assess our strategy and made experimental trials on the HRP-4 humanoid robot.}
}