Abstract
Discussions on how to perform tasks at disaster sites are actively conducted, but there is little debate on important issues such as how to deliver robots to disaster sites. To drop a humanoid robot with a parachute from an airplane is one of the promising ways of delivering robots. In this paper, the behavior of falling during parachute landing is modeled with an inverted pendulum model and the validity of the model is verified by the drop tests with a small single-legged robot. In addition, it was found that when the robot was dropped with a half-sitting posture, the impact acceleration is reduced. Based on this result, a parachute landing fall motion is designed and is succeeded in reducing the impact acceleration to 41%.
Original language | English |
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Title of host publication | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 221-226 |
Number of pages | 6 |
Volume | 2018-January |
ISBN (Electronic) | 9781538637418 |
DOIs | |
Publication status | Published - 2018 Mar 23 |
Event | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 2017 Dec 5 → 2017 Dec 8 |
Other
Other | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
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Country | China |
City | Macau |
Period | 17/12/5 → 17/12/8 |
Keywords
- Humanoid Robots
- Parachute Landing Fall
- Shock Absorbing Motion
ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering
- Control and Optimization
- Modelling and Simulation