Application of Generalized Function Set in the Lying States Classification of a Humanoid Robot

Standing up from a supine position or sitting down from standing is an important and simple human activity of day life. It is of equal importance for a humanoid robot, but it is not simple work to be completed for the robot. This paper presents the concept of generalized function set, and researches on the characteristics of lying state using the generalize function (GF) set, and gets the interested end effectors (EEs), which is instructional in the next detailed motion planning. Then the work presents the lying state classification of the humanoid robot SJTU-HR1.