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The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans

An automated approach is proposed which can analyze ground reaction force data from bipedal walking robots and humans. The input of the automated analysis is the raw data from force sensors mounted in the feet of a robot. The output is detailed information, such as detected single support, double support, and swing phases, their durations, timings of events like heel strikes, properties of the phase transitions and of the robot itself. The proposed approach is generic, parameter-free, model-free, robust, computationally efficient, and applicable for real-time use during walking. It can detect early indications of instability that could lead to a fall of the robot. Three real-world experiments are presented: with a compliant bipedal robot, with a stiff humanoid robot, and with a human subject.