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 |
|---|---|
| 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 |
|---|---|
| Country | China |
| City | Macau |
| Period | 17/12/5 → 17/12/8 |
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Keywords
- Humanoid Robots
- Parachute Landing Fall
- Shock Absorbing Motion
ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering
- Control and Optimization
- Modelling and Simulation
Cite this
Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot. / Tsujita, Teppei; Altangerel, Odpurev; Abiko, Satoko; Konno, Atsushi.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 221-226.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Analysis of drop test using a one-legged robot toward parachute landing by a humanoid robot
AU - Tsujita, Teppei
AU - Altangerel, Odpurev
AU - Abiko, Satoko
AU - Konno, Atsushi
PY - 2018/3/23
Y1 - 2018/3/23
N2 - 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%.
AB - 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%.
KW - Humanoid Robots
KW - Parachute Landing Fall
KW - Shock Absorbing Motion
UR - http://www.scopus.com/inward/record.url?scp=85050030070&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050030070&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324421
DO - 10.1109/ROBIO.2017.8324421
M3 - Conference contribution
AN - SCOPUS:85050030070
VL - 2018-January
SP - 221
EP - 226
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -