{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/first-do-not-fall-learning-to-exploit-the","title":"First do not fall: learning to exploit a wall with a damaged humanoid robot","arxiv_id":"2203.00316","date":"2022-03-01","proceeding":null,"authors":["Timothée Anne","Eloïse Dalin","Ivan Bergonzani","Serena Ivaldi","Jean-Baptiste Mouret"],"abstract":"Humanoid robots could replace humans in hazardous situations but most of such situations are equally dangerous for them, which means that they have a high chance of being damaged and falling. We hypothesize that humanoid robots would be mostly used in buildings, which makes them likely to be close to a wall. To avoid a fall, they can therefore lean on the closest wall, as a human would do, provided that they find in a few milliseconds where to put the hand(s). This article introduces a method, called D-Reflex, that learns a neural network that chooses this contact position given the wall orientation, the wall distance, and the posture of the robot. This contact position is then used by a whole-body controller to reach a stable posture. We show that D-Reflex allows a simulated TALOS robot (1.75m, 100kg, 30 degrees of freedom) to avoid more than 75% of the avoidable falls and can work on the real robot.","url_abs":"https://arxiv.org/abs/2203.00316v3","url_pdf":"https://arxiv.org/pdf/2203.00316v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"first-do-not-fall-learning-to-exploit-the","repo_url":"https://github.com/resibots/robot_dart","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-2-Clause"}}],"tasks":[{"task_slug":null,"task_name":"Position"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}