last minute addition of the fall recovery section

docs/report.latex

@@ -15,8 +15,8 @@
 
 \usepackage{fancyhdr}
 \pagestyle{fancy}
-\rhead{\thepage}
 \lhead{Humanoid Robotic Systems}
+\rhead{Teleoperating NAO}
 
 \def\BibTeX{{\rm B\kern-.05em{\sc i\kern-.025em b}\kern-.08em
     T\kern-.1667em\lower.7ex\hbox{E}\kern-.125emX}}
@@ -522,6 +522,16 @@ shows no signs of producing violent arm motions, which means that our strategy
 for handling singularities was effective. The implementation for the whole
 imitation routine resides in the \verb|imitator| module of our system.
 
+\subsection{Fall Recovery}
+
+A final component of our system is a small node that is responsible for
+recovering from the falls. Using the NAOqi API, this node subscribes to a
+NAOqi event called \verb|robot_has_fallen|, and as soon as such event occurs,
+immediately suspends any other activities in the system, and then indefinitely
+tries to bring the robot back into the standing state, again by using a routine
+provided by NAOqi SDK. Thanks to this node, the teleoperation can in many cases
+be resumed normally after the fall.
+
 \section{System Implementation and Integration}\label{sec:integration}
 
 Now that the individual modules were designed and implemented, the whole system